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8400 HighLine C Inverter Drives
8400
L-force Drives
8400 HighLine C | Software ManualOverview of technical documentation for Inverter Drives 8400
2 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Overview of technical documentation for Inverter Drives 8400
Project planning, selection & ordering Legend:
8400 hardware manual Printed documentation
Catalogue Online documentation(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
MA 8400 BaseLine/8400StateLine/HighLine BA Operating Instructions
MA for the communication module KHB Communication manual
MA for the extension module MA Mounting instructions
MA for the safety module SW Software Manual
MA for the accessories
Parameterisation
BA keypad
SW 8400 BaseLine
SW 8400 StateLine
SW 8400 HighLine This documentation
KHB for the communication module
Drive commissioning
Commissioning guide
SW 8400 StateLine/HighLine
chapter "Commissioning"
chapter "Oscilloscope"
chapter "Diagnostics & fault analysis"
Remote maintenance manual
Establishing networks
KHB for the communication medium used
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 3
8400 HighLine C | Software ManualContents
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 Definition of the notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.1 Functions of the frequency inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2 Device architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.3 Communicating with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3.1 Going online via diagnostic adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3.2 Going online via system bus (CAN on board) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.3.3 Use of other communication interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4 Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.1 Quick commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.1.1 Keypad control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.1.2 Terminal control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.2 Commissioning with the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.2.1 Preparation of keypad and controller for commissioning . . . . . . . . . . . . . . . . . . . 37
3.2.2 Code overview for quick commissioning by means of the keypad . . . . . . . . . . . 38
3.3 Commissioning of the "Actuating drive speed" application . . . . . . . . . . . . . . . . . . . . . . . . 40
3.3.1 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.3.2 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4 Commissioning of the "Table positioning" application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.4.1 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
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4 L Firmware 02.00 - DMS EN 3.0 - 05/2009
4 Drive control (DCTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.1 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2.1 Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.2.2 Init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.3 MotorIdent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2.4 SafeTorqueOff. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2.5 ReadyToSwitchON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.2.6 SwitchedON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.7 OperationEnabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.8 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.9 TroubleQSP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.2.10 Trouble . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.2.11 Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2.12 SystemFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.3 Controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.3.2 Overview of controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.3.3 Status display for controller commands (in preparation) . . . . . . . . . . . . . . . . . . . . 68
4.3.4 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.5 Saving the parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.6 Loading the parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.4 System block "LS_DriveInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.5 Control word and status word of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.6 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.6.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.6.2 Saving of the parameters in the memory module. . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.6.3 Handling of the memory module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.6.4 Non-volatile saving of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.6.5 Parameter set transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.6.6 Parameters for status display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.6.7 Setting/removing the controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.7 Activation/deactivation of quick stop function (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
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5 Motor control (MCTRL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.1 Selection of the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.1.1 V/f characteristic control (VFCplus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.1.1.1 Parameterising the V/f characteristic control without feedback . . 90
5.1.1.2 Parameterising V/f characteristic control with feedback . . . . . . . . . 94
5.1.1.3 Optimising the operational performance via slip compensation . . 101
5.1.1.4 Optimising the setting of the Imax controller . . . . . . . . . . . . . . . . . . . . 103
5.1.1.5 Torque limitation for VFC (V/f characteristic control). . . . . . . . . . . . . 104
5.1.2 Sensorless vector control (SLVC) and servo control (SC). . . . . . . . . . . . . . . . . . . . . 106
5.1.2.1 Sensorless vector control (SLVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5.1.2.2 Servo control (SC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.1.3 Optimising the motor parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
5.2 Motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
5.2.1 Selection via motor catalogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5.2.2 Automatic motor parameter identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
5.2.3 Manual parameter setting for external motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
5.3 Selection of the switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
5.4 Definition of current and speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.4.1 Definition of speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.4.2 Definition of current limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
5.5 Flying restart function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
5.5.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
5.6 DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
5.6.1 Manual DC-injection braking (DCB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
5.6.2 Automatic DC-injection braking (Auto-DCB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
5.7 Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
5.8 Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
5.9 System block "LS_MotorInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
5.10 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.10.1 Motor temperature monitoring with I²xt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.10.2 Motor temperature monitoring with motor PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
5.10.3 Monitoring of the brake resistor by I²xt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
5.11 Braking operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
5.11.1 Selecting the voltage source for braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.11.2 Avoiding a thermal overload of the brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . 176
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6 L Firmware 02.00 - DMS EN 3.0 - 05/2009
6 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
6.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
6.1.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
6.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
6.1.3 Using the analog input as current input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
6.1.4 System block "LS_AnalogInput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
6.2 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
6.2.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
6.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
6.2.3 System block "LS_AnalogOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
6.3 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
6.3.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
6.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
6.3.3 System block "LS_DigitalInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
6.4 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
6.4.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
6.4.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
6.4.3 System block "LS_DigitalOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
6.5 Terminal pre-assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
6.5.1 Application "Actuating drive - speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
6.5.1.1 Connection diagram in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . 201
6.5.2 Application "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
7 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
7.1 Parameter setting for the motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
7.2 Encoder evaluation method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
7.3 Encoders with HTL level at X4/DI1 or X4/DI2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
7.3.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
7.4 Encoder with HTL level at X4/DI6 or X4/DI7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
7.4.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
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8 System bus "CAN on board" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
8.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
8.2 General data and application conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
8.3 Communication time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
8.4 Possible settings via DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.4.1 Activation of the bus terminating resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.4.2 Setting the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.4.3 Setting the node address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.5 CAN signalling on the controller front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.6 General information on data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
8.6.1 Structure of the CAN data telegram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
8.6.2 Communication phases of the CAN network (NMT). . . . . . . . . . . . . . . . . . . . . . . . 229
8.6.3 CAN start remote node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
8.7 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
8.7.1 Available process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
8.7.2 Transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
8.7.3 Cyclic process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
8.7.4 Event-controlled process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
8.7.5 Identifiers of the process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
8.7.6 Assignment of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
8.7.6.1 PDO mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
8.7.6.2 Port blocks LP_CanIn1 ... LP_CanIn3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
8.7.6.3 Port blocks LP_CanOut1 ... LP_CanOut3 . . . . . . . . . . . . . . . . . . . . . . . . . 243
8.7.6.4 Port blocks LP_MciIn and LP_MciOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
8.8 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
8.8.1 Identifiers of the parameter data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
8.8.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
8.8.3 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
8.8.4 Parameter data telegram examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
8.8.4.1 Read parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
8.8.4.2 Write parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
8.8.4.3 Read block parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
8.9 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
8.9.1 Integrated error detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
8.9.2 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
8.9.3 Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
8.9.4 Heartbeat commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
8.10 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
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9 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
9.1 Basics on error handling in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
9.2 AutoFailReset function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
9.3 Drive diagnostics with the »Engineer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
9.4 Drive diagnostics via keypad/bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
9.5 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
9.5.1 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.5.2 Filtering logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.5.3 Reading out logbook entries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
9.6 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
9.6.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
9.6.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
9.6.3 Mains phase failure monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
9.7 Error messages of the operating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1 Error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1.1 Structure of the error number (bit coding). . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1.2 Error type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1.3 Error subject area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
9.7.1.4 Error ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
9.7.1.5 Example for bit coding of the error number . . . . . . . . . . . . . . . . . . . . . 300
9.7.2 Reset of error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
9.7.3 Error messages of positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
9.7.4 Overview of the error messages of the operating system. . . . . . . . . . . . . . . . . . . 303
9.7.5 Cause & possible remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
9.8 System block LS_SetError_1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
9.9 Drive diagnostics & fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
9.9.1 Maloperation of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
9.9.2 Operation without mains supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
10 Fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
10.1 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
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11 Technology applications (TAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
11.1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
11.1.2 Purpose of the technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
11.1.3 Application cases for a technology application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
11.2 Software structure of the application function at a glance. . . . . . . . . . . . . . . . . . . . . . . . . 323
11.2.1 How to use the technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
11.3 Introduction to the LS_MotionControlKernel system block . . . . . . . . . . . . . . . . . . . . . . . . . 328
11.3.1 Selection of the application and the control mode . . . . . . . . . . . . . . . . . . . . . . . . . 330
11.3.2 Communication of the user interfaces to the application block . . . . . . . . . . . . . 332
12 Basic drive functions in the MCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
12.1 Holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
12.1.1 Internal interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
12.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
12.1.2.1 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
12.1.2.2 Functional settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
12.1.2.3 Time response of the brake (time diagram). . . . . . . . . . . . . . . . . . . . . . 341
12.1.2.4 Switching thresholds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
12.1.2.5 Closing and opening time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
12.1.2.6 Motor magnetising time (only with asynchronous motor). . . . . . . . 345
12.1.2.7 Actual value monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
12.1.2.8 Process when brake is released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
12.1.2.9 Process when brake is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
12.1.2.10 Response to pulse inhibit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
12.1.2.11 Torque precontrol during starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
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13 TA "Actuating drive – speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
13.1 Brief description of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
13.1.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
13.1.2 Brief description of the properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
13.1.3 Functions of the TA "Actuating drive-speed". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
13.1.4 Selecting the control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
13.2 Terminal assignment in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
13.2.1 Overview of terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
13.2.2 Terminal pre-assignment in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
13.2.3 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
13.2.4 Pre-assignment of the application block LA_NCtrl . . . . . . . . . . . . . . . . . . . . . . . . . 368
13.2.5 Quick commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
13.2.6 Description of the signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
13.2.7 Interface description of the TA "Actuating drive - speed" . . . . . . . . . . . . . . . . . . . 373
13.2.7.1 Control words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
13.2.7.2 Setting controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
13.2.7.3 Resetting an error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
13.2.7.4 Executing quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
13.2.7.5 bSetDCBrake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
13.2.7.6 bRFG_Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
13.2.7.7 bRFG_0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
13.2.7.8 nVoltageAdd_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
13.2.7.9 Torque limit value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
13.2.7.10 CW/CCW rotation change-over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
13.2.7.11 Main setpoint and additional setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . 378
13.2.7.12 Fixed speeds and ramp times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
13.2.7.13 Ramp generator L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
13.2.7.14 Motor potentiometer function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
13.2.7.15 Process controller adaptation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
13.2.7.16 Actual process controller value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
13.2.7.17 Forced release of holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
13.2.7.18 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
13.2.7.19 General purpose functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
13.2.7.20 Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
13.2.7.21 wCurrentFailNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
13.2.7.22 bDriveReady . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.23 bDriveFail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.24 bCInhActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.25 bQSPIsActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.26 bSpeedCcw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.2.7.27 bSpeedActCompare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
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13.2.7.28 bOverLoadActive / bUnderLoadActive . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.2.7.29 bImaxActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.2.7.30 bSpeedSetReached, bSpeedActEqSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.31 nMotorCurrent_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.32 nMotorSpeedSet_a, nMotorSpeedAct_a . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.33 nMotorTorqueAct_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.34 nDCVoltage_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
13.2.7.35 nMotorVoltage_a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
13.2.7.36 bBrakeReleaseOut, holding brake control . . . . . . . . . . . . . . . . . . . . . . . 389
13.2.7.37 bBrakeReleasedbBrakeReleased, holding brake status signal . . . . . 389
13.2.7.38 General purpose outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
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14 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
14.1 Brief description of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
14.1.1 Brief description of the properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
14.1.2 Selecting the control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
14.2 Terminal assignment in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
14.2.1 Overview of terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
14.2.2 Terminal pre-assignment in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
14.2.3 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
14.2.4 Pre-assignment of the LA_TabPos application block . . . . . . . . . . . . . . . . . . . . . . . 410
14.3 Interface description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
14.3.1 Control words of the MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
14.3.2 Specifying an operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
14.3.3 Control bits and process words for the motor control (MCTRL). . . . . . . . . . . . . . 418
14.3.4 Connecting and retracting limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
14.3.4.1 Retracting the limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
14.3.5 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
14.3.6 Acceleration and speed override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
14.3.6.1 Speed override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
14.3.6.2 Acceleration override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
14.3.7 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
14.3.7.1 Homing modes ( C1221). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.3.7.2 Use of a reference switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
14.3.7.3 Use of a touch probe sensor (in preparation). . . . . . . . . . . . . . . . . . . . . 433
14.3.7.4 Setting the homing speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
14.3.7.5 Homing start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
14.3.7.6 Setting the home position manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
14.3.7.7 Resetting the home position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
14.3.7.8 "Home position set once" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
14.3.8 StartStop and profile number for controlling the profile generation . . . . . . . . 435
14.3.9 Possible motion profiles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
14.4 S-ramp time for jerk limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
14.4.1 Switching off the S-ramp time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
14.5 Limiting the torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
14.5.1 "Home position known" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
14.5.2 "Position target reached" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
14.5.3 "Transient phenomenon completed" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
14.5.4 Sequence block control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
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15 Working with the FB Editor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
15.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
15.1.1 Basic components of a drive solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
15.1.1.1 What is a function block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
15.1.1.2 Parameterisable function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
15.1.1.3 What is a system block? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
15.1.1.4 What is a port block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
15.1.1.5 What is an application block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
15.1.2 Conventions used for input/output identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
15.1.3 Scaling of physical units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
15.2 User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
15.2.1 Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
15.2.2 Search function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
15.2.3 Level selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
15.2.4 Editor view/overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
15.2.5 Context menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
15.2.6 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
15.2.7 Overview window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
15.3 Using the FB-Editor as "Viewer" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
15.3.1 Following connections of inputs and outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
15.3.2 Keyboard commands for navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
15.3.3 Change online display format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
15.4 Reconfiguring the predefined interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
15.4.1 Insert/delete objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
15.4.1.1 Inserting a function block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
15.4.1.2 Inserting a system block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
15.4.1.3 Inserting a port block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
15.4.1.4 Inserting a comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
15.4.1.5 Deleting objects that are no longer required. . . . . . . . . . . . . . . . . . . . . 472
15.4.2 Changing connector visibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
15.4.3 Arranging objects in the drawing area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474
15.4.4 Creating/deleting connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
15.4.4.1 Creating a connection using the connection line . . . . . . . . . . . . . . . . . 477
15.4.4.2 Creating a connection using port identifiers . . . . . . . . . . . . . . . . . . . . . 478
15.4.4.3 Creating a connection via connection dialog. . . . . . . . . . . . . . . . . . . . . 479
15.4.4.4 Deleting connections that are no longer required . . . . . . . . . . . . . . . . 480
15.4.5 Changing the processing order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
15.4.6 Copying interconnection elements (across all devices) . . . . . . . . . . . . . . . . . . . . . 483
15.4.6.1 Insert options for copied elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
15.4.7 Reset changed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
15.5 Adjusting online and offline interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
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15.6 Printing the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
15.7 Comparing interconnections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
15.8 Copying interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
15.9 Export/import of the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
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16 Function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
16.1 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
16.1.1 L_Absolut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
16.1.2 L_AddSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
16.1.3 L_AnalogSwitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
16.1.4 L_And . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
16.1.5 L_And5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
16.1.6 L_Arithmetik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
16.1.7 L_ArithmetikPhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
16.1.8 L_Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
16.1.8.1 Function 1: nIn1 = nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
16.1.8.2 Function 2: nIn1 > nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
16.1.8.3 Function 3: nIn1 < nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
16.1.8.4 Function 4: |nIn1| = |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
16.1.8.5 Function 5: |nIn1| > |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
16.1.8.6 Function 6: |nIn1| < |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
16.1.9 L_ComparePhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
16.1.9.1 Function 1: dnIn1 = dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
16.1.9.2 Function 2: dnIn1 > dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
16.1.9.3 Function 3: dnIn1 < dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
16.1.9.4 Function 4: |dnIn1| = |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
16.1.9.5 Function 5: |dnIn1| > |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
16.1.9.6 Function 6: |dnIn1| < |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
16.1.10 L_ConvBitsToWord . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
16.1.11 L_ConvDIntToWords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
16.1.12 L_ConvWordsToDInt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
16.1.13 L_ConvWordToBits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
16.1.14 L_Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
16.1.15 L_DFlipFlop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
16.1.16 L_DigitalDelay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
16.1.17 L_DigitalLogic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
16.1.18 L_DigitalLogic5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
16.1.19 L_DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
16.1.20 L_Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
16.1.21 L_MckCtrlInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
16.1.22 L_MckStateInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
16.1.23 L_MPot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
16.1.23.1 Activation & control of motor potentiometer. . . . . . . . . . . . . . . . . . . . 539
16.1.23.2 Deactivation of motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
16.1.24 L_MulDiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
16.1.25 L_Mux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
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16.1.26 L_Negation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
16.1.27 L_Not . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
16.1.28 L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
16.1.28.1 Main setpoint path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
16.1.28.2 JOG setpoints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
16.1.28.3 Setpoint inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
16.1.28.4 Value range of the input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
16.1.28.5 Skip frequency function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
16.1.28.6 Ramp function generator for the main setpoint . . . . . . . . . . . . . . . . . 551
16.1.28.7 S-shaped ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
16.1.28.8 Arithmetic combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
16.1.28.9 Additional setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
16.1.28.10Application example for the additional load function. . . . . . . . . . . . 554
16.1.29 L_OffsetGainP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
16.1.30 L_OffsetGainPhiP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
16.1.31 L_Or . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
16.1.32 L_Or5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
16.1.33 L_PhaseIntK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
16.1.33.1 Function at constant input value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
16.1.33.2 Function at input value with sign reversal . . . . . . . . . . . . . . . . . . . . . . . 564
16.1.33.3 Calculation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
16.1.34 L_PCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
16.1.34.1 Control characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570
16.1.34.2 Ramp function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
16.1.34.3 Operating range of the PID process controller . . . . . . . . . . . . . . . . . . . 571
16.1.34.4 Evaluation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
16.1.34.5 Deactivation of the process controller. . . . . . . . . . . . . . . . . . . . . . . . . . . 572
16.1.35 L_PT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
16.1.36 L_RLQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
16.1.37 L_RSFlipFlop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
16.1.38 L_SampleHold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
16.1.39 L_SignalMonitor_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
16.1.40 L_SignalMonitor_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
16.1.41 L_Transient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
16.1.41.1 Function 0: Evaluate rising signal edges . . . . . . . . . . . . . . . . . . . . . . . . . 582
16.1.41.2 Function 1: Evaluate falling signal edges . . . . . . . . . . . . . . . . . . . . . . . . 583
16.1.41.3 Function 2: Evaluate rising and falling signal edges . . . . . . . . . . . . . . 583
16.2 System blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
16.2.1 LS_DisFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
16.2.2 LS_DisFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
16.2.3 LS_DisFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
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16.2.4 LS_MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
16.2.5 LS_ParFix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
16.2.6 LS_ParFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
16.2.7 LS_ParFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
16.2.8 LS_ParFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
16.2.9 LS_ParFree_v . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
16.2.10 LS_PulseGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
17 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
17.1 Structure of the parameter descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
17.1.1 Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
17.1.2 Parameters with read-only access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
17.1.3 Parameters with write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
17.1.3.1 Parameters with setting range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
17.1.3.2 Parameters with selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
17.1.3.3 Parameters with bit-coded setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
17.1.3.4 Parameters with subcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
17.1.4 Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
17.2 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
17.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855
18 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879
8400 HighLine C | Software ManualAbout this documentationDocument history
18 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1 About this documentation
This software manual contains information on the parameterisation of the8400 HighLine C controller by means of the L-force »Engineer« and the keypad.
The information in this software manual is valid for the 8400 HighLine C frequencyinverter with the following nameplate data:
Tip!
Current documentation and software updates for Lenze products can be found onthe Internet in the "Services & Downloads" area under
http://www.Lenze.com
1.1 Document history
Danger!
The controller is a source of danger which may lead to death or severe injury of persons.
To protect yourself and others against these dangers, observe the safety instructions before switching on the controller.
Please read the safety instructions provided in the 8400 Mounting Instructions and in the 8400 Hardware Manual 8400. Both documents are supplied with the controller.
Type Type designation From firmware version
8400 HighLine C E84AVHSCExxxxxx0 01.00
Version Description
1.0 07/2008 TD06 First edition
2.0 11/2008 TD06 Revision of the chapter "Commissioning"
3.0 04/2009 TD06 Revision of the chapters • Parameter list ( 605) • TA "Actuating drive – speed" ( 349) • TA "Table positioning" ( 391)
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Conventions used
1.2 Conventions used
This Software Manual uses the following conventions to distinguish between differenttypes of information:
1.3 Terminology used
Type of information Writing Examples/notes
Variable identifier Italics By setting bEnable to TRUE...
Window The Message window... / The Options dialog box...
Control element Bold The OK button... / The Copy command... / The Properties tab... / The Name input field...
Sequence ofmenu commands
If the execution of a function requires several commands, the individual commands are separated by an arrow: Select FileOpen to...
Shortcut <Bold> Press <F1> to open the Online Help.
If a command requires a combination of keys, a "+" is placed between the key symbols:Use <Shift>+<ESC> to...
Hyperlink Underlined A hyperlink is an optically highlighted reference which is activated by a mouse click.
Step-by-step instructions Step-by-step instructions are indicated by a pictograph.
Term Meaning
»Engineer« Lenze PC software which supports you in "engineering" (parameterisation, diagnostics and configuration) throughout the whole life cycle, i.e. from planning to maintenance of the commissioned machine.
Application block Block for a technology application (e.g. actuating drive - speed)A technology application is a drive solution based on the experience and know-how of Lenze in which function blocks interconnected to a signal flow form the basis for implementing typical drive tasks.
Code Parameter used for controller parameterisation or monitoring. The term is usually called "index".
Display codes Parameter that displays the current state or value of an input/output of a system block.
FB Editor Function block editorGraphical interconnection tool which is provided for FB interconnections in the »Engineer« on the FB editor tab and by means of which the applications integrated in the drive can also be reconfigured and extended by individual functions.
Function block General designation of a function block for free interconnection (only HighLine).A function block can be compared with an integrated circuit that contains a certain control logic and delivers one or several values when being executed. • Each function block has a unique identifier (the instance name) and a
processing number which defines the position at which the function block is calculated during the task cycle.
Representation e.g. "L_Arithmetik1": function block for arithmetic operations
Lenze setting This setting is the default factory setting of the device.
Port block Block for implementing the process data transfer via a fieldbus
LP Abbreviation: Lenze Port block, e.g. LP_CanIn1, port block CAN1
8400 HighLine C | Software ManualAbout this documentationTerminology used
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LA Abbreviation: Lenze Application block, e.g. LA_NCtrl, block for the application "speed closed-loop control"
LS Abbreviation: Lenze System block, e.g. LS_DigitalInput, system block for digital input signals
QSP Quick stop
SC Operating mode: Servo Control
SLVC Operating mode: sensorless vector control ("SensorLess Vector Control")
Subcode If a code contains several parameters, the individual parameters are stored under "subcodes".This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").The term is usually called "subindex".
System block System blocks provide interfaces to basic functions and to the hardware of the controller in the FB editor of the »Engineer« (e.g. to the digital inputs).
VFCplus Operating mode: V/f characteristic control ("Voltage Frequency Control")
Term Meaning
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Definition of the notes used
1.4 Definition of the notes used
The following signal words and symbols are used in this Software Manual to indicatedangers and important information:
Safety instructions
Layout of the safety instructions:
Application notes
Pictograph and signal word!
(characterise the type and severity of danger)
Note
(describes the danger and informs how to prevent dangerous situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltageReference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of dangerReference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.
Stop! Danger of property damageReference to a possible danger that may result in property damage if the corresponding measures are not taken.
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for easy handling
8400 HighLine C | Software ManualProduct description
22 L Firmware 02.00 - DMS EN 3.0 - 05/2009
2 Product description
This manual contains basic information on the runtime software and on how you canestablish very easily an online connection between PC and controller for parameter settingwith the »Engineer«.
The 8400 HighLine controller is designed for simple drive tasks which require additionalfunctions.
The device is provided, among other things, with
CAN onboard and can be implemented into an automation system via diverse fieldbuses.
integrated applications for speed-controlled drive tasks and a table positioning function with integrated travel profile generator.
The internal functional range is firmly defined and can be parameterised using an FB editoror a pluggable keypad.
The control signals and setpoints can be selected via terminals or a fieldbus. The functionof the single control signals can be freely defined using the FB editor.
The 8400 HighLine frequency inverter comes with all function blocks and all integratedapplications. Thus, it is not necessary to create a PLC program and load it into thecontroller.
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Functions of the frequency inverter
2.1 Functions of the frequency inverter
Integrated protective functions, e.g. Ixt overload monitoring that responds - among other things - to too frequent mains switching
Adjustable warning levels for a simplified and safe machine maintenance (e.g. motor operating time)
Signalling of device states through front LEDs
– Drive green: Drive is in operation / controller inhibit
– Drive red: Drive is in an error state
– CAN green: CAN is in operation
– CAN red: CAN is in an error state
Fieldbus communication (see Communicating with the controller ( 25))
– CANopen interface (on board) with address switch at the front
– Pluggable communication module (MCI interface), e.g. PROFIBUS-DP V1
Motor control types
– V/f open loop
– V/f closed loop
– Vector open loop
– Servo control or motor control with ServoControl feature
Evaluation of the feedback signals via HTL encoders up to max. 100 kHz
Diagnostics and parameter setting options with PC or plugged-in keypad
– Writing and reading of device and communication module parameters
– Reading out all diagnostic information
– Reading out logbook information (similar to an error history buffer)
– Firmware update of the frequency inverter
Parameter saving with mains failure protection on the (pluggable) memory module
Data logger for signal recording while being online
Password-protected parameter setting (in preparation)
8400 HighLine C | Software ManualProduct descriptionDevice architecture
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2.2 Device architecture
• I/O level– Free interconnection of I/O terminals and process
data by the user • Application level
– Predefined applications for solving different drive tasks:Speed closed-loop control/ speed open-loop controlTable positioning
• MotionControlKernel– Brake management– Manual jog via terminal– Manual jog via operator dialog– Positioning profile generator– Homing (referencing)
• Operating system– Control and monitoring of the I/O terminals (speed
measurement 2 kHz scanning)– Communication to diagnostic terminal X6,
CANonboard and MCI module provision of the services for parameter data management and connection of the memory module
– Device control • Motor control
– Control and monitoring of the output stages for motor and brake chopper
Application level
MotionControlKernel
Operating system
Motor control
I/O level
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Communicating with the controller
2.3 Communicating with the controller
The following interfaces/communication modules can be used to build up communicationbetween PC and controller:
Diagnostic interface X6/Going online via diagnostic adapter
CAN on board interface/Going online via system bus (CAN on board) ( 28)
Optional MCI interface in the module slot of the controller for inserting a communication module.
Tip!
Detailed information about the individual interfaces can be found in the corresponding Communication Manuals.
2.3.1 Going online via diagnostic adapter
For the initial commissioning of the controller, you can use, for instance, the diagnosticadapter offered by Lenze:
Preconditions:
The diagnostic adapter is connected to the diagnostic interface X6 on the controller and to a free USB port on the PC.
The driver required for the diagnostic adapter is installed.
The control electronics of the controller are supplied with 24 V low voltage via plug X2.
Stop!
If you change parameters in the »Engineer« while the controller is connected online, the changes will be directly accepted by the controller!
Note!
Please observe the documentation for the diagnostic adapter!
8400 HighLine C | Software ManualProduct descriptionCommunicating with the controller
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How to build up an online connection via the diagnostic adapter:
1. Select the 8400 HighLine controller to which you want to build up an online connection in the Project view of the »Engineer«:
2. Click the icon or select the command OnlineGo online.
• If no online connection has been configured for the selected controller so far, the Device assignment offline devices dialog box will be displayed:
• The dialog box also appears if the online connection is built up via the command OnlineGo online instead of using the toolbar icon.
3. Select the "Diagnostic adapter" entry from the Bus connection list field.
4. Click Find device access path to find the controller in the selected bus system.
• The Address assignment dialog box appears:
5. Select the corresponding controller from the Field devices located list field.
6. Click OK.
• The Address assignment dialog box is closed and the selected Device access path (e.g. "DDCMP:/") is indicated in the Device assignment offline devices dialog box.
7. Click Connect.
• The dialog box is closed and the online connection with the controller is built up.
• When an online connection with the controller exists, this is indicated -by a yellow icon in the Project view and- by the word "ONLINE" in the status bar:
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Communicating with the controller
Now you can use the icons and to easily build up and end a connection with thecontroller. The communication settings are only required when communication with acontroller is built up for the first time.
If you want to change the existing configuration, select the command OnlineGo online to open the Device assignment offline devices dialog box and change the settings.
With an online connection, the »Engineer« displays the current parameter settings of the controller with a yellow background colour.
When the background colour changes from yellow to red, the connection with the controller has been interrupted.
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2.3.2 Going online via system bus (CAN on board)
As an alternative to the diagnostic adapter, you can use the integrated system businterface (CAN on-board, terminal X1) of the controller for communication.
Lenze offers the following communication accessories for connection to the PC:
2.3.3 Use of other communication interfaces
If required, the controller can be expanded by e.g. the PROFIBUS communication interface.
For this purpose, the controller is provided with the MCI module receptacle to plug in a communication module.
Detailed information on this subject can be found in the Hardware Manual and Communication Manual for the corresponding communication system.
Communication accessories PC interface
PC system bus adapter 2173incl. connection cable and voltage supply adapter • for DIN keyboard connection (EMF2173IB) • for PS/2 keyboard connection (EMF2173IBV002) • for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)
Parallel interface(LPT port)
PC system bus adapter 2177incl. connection cable (EMF2177IB)
USB(Universal Serial Bus)
Note!
• For detailed information about the PC system bus adapter, please see the "CAN Communication Manual".
• Please observe the documentation for the PC system bus adapter!
• The online connection is built up as described in the previous chapter Going online via diagnostic adapter, only select the entry "CAN system bus" from the Bus connection list field in the Device assignment offline devices dialog box. ( 25)
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Keypad
2.4 Keypad
When the keypad is connected to the diagnostic interface X6 at the front of the controller, the status of the controller is displayed via different symbols on the LDC display in the area .
Symbol Meaning Note
Controller is ready for operation.
Controller is enabled.
Application in the controller is stopped.
Quick stop is active
Controller is inhibited. The power outputs are inhibited.
Controller is ready to switch on.
The maximum torque is reached.
Set current limit has been exceeded in motoror generator mode.
Pulse inhibit is active The power outputs are inhibited.
System fault is active
"Fault" state Fault is active
"Trouble" state Trouble is active
"TroubleQSP" state TroubleQSP is active
"Warning" Warning is active or locked warning
8400 HighLine C | Software ManualCommissioning
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3 Commissioning
Before switching on
In order to prevent injury to persons or damage to material assets
before connecting the mains voltage, check
– The wiring for completeness, short circuit, and earth fault
– The "emergency stop" function of the entire system
– The motor circuit configuration (star/delta) must be adapted to the output voltage of the controller
– The in-phase connection of the motor
– The direction of rotation or the encoder (if available)
The setting of the most important drive parameters before enabling the controller:
– Is the V/f rated frequency adapted to the motor circuit configuration?
– Are the drive parameters relevant for your application set correctly?
– Is the configuration of the analog and digital inputs and outputs adapted to the wiring?
Selection of the suitable commissioning tool
For commissioning the 8400 frequency inverter two options are provided to you:
Commissioning by means of the keypad for simple drive tasks, e. g. quick commissioning of the "Actuator - speed" standard application
Commissioning by means of the »Engineer« for drive tasks with higher requirements, e. g. "Table positioning"
Tip!
The extensive parameterisation and configuration is carried out using the»Engineer«. The online help that is available for each device and the accompanyingsoftware documentation supports you during this activity.
For quick commissioning and checking individual parameters on the controller, theL-force keypad is useful.
Note!
• Keep to the respective switch-on sequence.
• In the event of faults during commissioning, refer to the chapter "Troubleshooting and fault elimination".
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Notes for the motor operation
Tip!
In the Lenze setting the "V/f characteristic linear" operating mode is set as motorcontrol. The parameter settings are preset in a manner that if the combination ofthe frequency inverter and the 50 Hz asynchronous machine matches as regardspower, the controller is ready for operation immediately without furtherparameterisation effort, and the motor is working satisfactorily.
Recommendations for the following application cases:
• If the frequency inverter and the motor strongly differ from each other with regard to their power, set code C00022 (Imax limit - in motor mode) to
•
• If a high starting torque is required Set code C00016 (Umin boost) when the motor is in idle speed, so that the rated motor current IN(motor) is flowing at a field frequency of f = 3Hz (C00058).
• For noise optimisation set code C00018 to "3" (switching frequency 16 kHzsin var).
• If a high torque without feedback is to be provided at small speeds, we recommend the "Vector control" operating mode.
Danger!
• For thermal reasons, continuous operation of self-ventilated motors at a low field frequency and rated motor current is not permissible. If required, a motor temperature monitoring should be activated with C00585
Motor temperature monitoring with I²xt ( 169)
Motor temperature monitoring with motor PTC ( 172).
• With C00015 87 Hz operation has to be set if an asynchronous motor connected in delta (nameplate data: 400 V /230 V) is to be operated on a frequency inverter for a supply voltage of 400 V on the supply side.
IMax 2.0 IN(motor)×=
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3.1 Quick commissioning
Objective
The motor without load is to be rotated for purposes of testing or demonstration in theshortest time possible, using as little wiring effort as possible and only few settings.
Keypad or setpoint potentiometer
For this simple purpose two options are provided for controlling the drive controller. Pleaseselect:
Keypad control ( 33) , i. e. the X400 keypad serves as setpoint source
Terminal control ( 35) , i. e. a setpoint potentiometer connected to the terminals of the controller serves as setpoint source
Diagnostics
For the drive diagnostics also use the LEDs placed on the front of the controller in additionto the X400 keypad:
Two LEDs signalise the device state (DRIVE READY and DRIVE ERROR):LED status displays ( 55)
Two LEDs show the bus state (CAN-RUN and CAN-ERROR): CAN signalling on the controller front panel ( 225)
In the context of quick commissioning, the LEDs for the bus status are of lower significance.
Tip!
The description for handling the X400 keypad can be found in the MountingInstructions which are contained on the "L-force Inverter Drives 8400" CD inelectronic form.
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Quick commissioning
3.1.1 Keypad control
Please proceed step by step:
1. Wire the power connections
Make use of the Mounting Instructions supplied with the frequency inverter to wire the power terminals according to the requirements of your device.
2. Wire the control connections
3. Load the Lenze setting into the controller
Digital inputs at terminal X5 Assignment Information
RFR • Controller enableRFR = high
• Error resetHigh → low (edge-controlled)
Note!
With the Lenze setting the "Actuating drive speed" application is carried out.
After attaching the keypad or switching on the controller with the keypad attached, first the connection of the keypad to the controller is established.The process is completed if code C00051 appears in the display. • Then press the left function key.
• Scroll to the bottom from the "User menu" with the button to the "Quick commissioning" menu
• Click "right" button • Select the "Keypad" menu • Click "right" button • Code 00002/1:
– Parameterise "Edit" using the left function key
– Select value "1" ---> On/Start and confirm "OK" with the right function key
• During loading the Lenze setting, the display goes off for a short time.
• When the display has reappeared, the main menu is shown.– The main menu can be set in a
user-defined manner via the codes C00465 ... C00469.
• By means of the left function key the user menu can be reached
24EDI4 DI3 DI2 DI1 RFRGI 24IDI7 DI5DI6
MCTRL: Act. speed val.
C00051
0 rpm
SAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
EDIT
Load Lenze setting
C00002/1
MCTRL: Act. speed val.
C00051
0 rpm
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4. Set keypad control
5. Enable controller:Set terminal X5/RFR to HIGH potential (reference: X5/24I).
6. Use the keypad to change the motor velocity or the motor speed by selecting different fixed setpoints:
Please observe
– the actual speed value: C00051
– the front-panel LEDs LED status displays ( 55)
7. Save the settings in the device with .
Tip!
The complete parameter overview will be presented in the following chapter:
Code overview for quick commissioning by means of the keypad ( 38)
Further like for commissioning item Load the Lenze setting into the
controller:– "Quick commissioning" menu– Keypad– Load Lenze setting
With the "Bottom" navigation key, code C00007 for selecting the control mode is reached: • Select parameter code 00007 and
parameterise with "Edit" • Select value "20" ---> "Keypad"
and confirm with "OK".
Keypad Code Subcode Motor speed
C00728 3 Counter-clockwise rotation:-199.99 % ..... 0 (from C00011)
Clockwise rotation:0 ... +199.99 % (from C00011)
C00051 - Display of actual speed value
EDIT
Select CtrlMode
C00007
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
KeypadSAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning EDIT
Load Lenze setting
C00002/1
EDIT
< ... >
C00728
C00051
SAVE
Par1 Quick commissioning
Terminals
Keypad
SAVE
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8400 HighLine C | Software ManualCommissioning
Quick commissioning
3.1.2 Terminal control
Please proceed step by step:
1. Wire the power connectionsMake use of the Mounting Instructions supplied with the frequency inverter to carry outthe power connections correctly and in accordance with the requirements of your device.
2. Wire the control connections
3. If you can be sure that the frequency inverter is in the default state (Lenze setting), youcan skip the following commissioning step.Otherwise establish the Lenze setting of the frequency inverter. We recommend the use ofthe keypad.
Analog inputs at X3 Assignment Terminal control
A1U Setpoint selection10 V (= 100 %):1500 rpm (for 4-pole motor)
Wiring of the digital inputs at X5 Assignment Terminal control
DI1 ... DI7: all active = High
Bold print: minimum wiring required for operation
RFR • Controller enable: RFR = high • Error reset:
High → low (edge-controlled)
DI1 Fixed frequency 1 ... fixed frequency 3, see table below
DI2
DI3 DCB
DI4 Direction of rotation counter-clockwise/clockwise (CCW/CW)
DI5 ... DI7 No function
Note!
With the Lenze setting the "Actuating drive speed" application is carried out.
O1U GA A1IA2I A1UA2U AR
1k...10k
�
�0...10 V
�
24EDI4 DI3 DI2 DI1 RFRGI 24IX5
+
_DC 24 V
DI7 DI5DI6
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4. Enable controller:Set terminal X5/RFR to HIGH potential (reference: X5/GI).
5. Use the potentiometer to change the motor velocity or change the motor speed by selecting different fixed setpoints:
Please observe
– the actual speed value: C00051
– the front-panel LEDs LED status displays ( 55)
6. Save the settings in the device with .
After attaching the keypad or switching on the controller with the keypad attached, first the connection of the keypad to the controller is established.The process is completed if code C00051 appears in the display. • Then press the left function key.
• Scroll to the bottom from the "User menu" with the button to the "Quick commissioning" menu
• Click "right" button • Select the "Terminals" menu • Click "right" button • Code 00002/1:
– Parameterise "Edit" using the left function key
– Select value "1" ---> On/Start and confirm "OK" with the right function key
• During loading the Lenze setting, the display goes off for a short time.
• When the display has reappeared, the main menu is shown.– The main menu can be set in a
user-defined manner via the codes C00465 ... C00469.
• By means of the left function key the user menu can be reached
DI2 DI1 Motor speed
0 0 Setpoint from potentiometer
0 1 40 % of C00011 (reference speed)
1 0 60 % of C00011 (reference speed)
1 1 80 % of C00011 (reference speed)
MCTRL: Act. speed val.
C00051
0 rpm
SAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
EDIT
Load Lenze setting
C00002/1
MCTRL: Act. speed val.
C00051
0 rpm
SAVE
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Commissioning with the keypad
3.2 Commissioning with the keypad
3.2.1 Preparation of keypad and controller for commissioning
Controller preparation
1. Set controller inhibit (X5/RFR = LOW).
2. Ensure that the mains voltage and the motor cables are wired correctly.
3. If an external 24 V supply voltage is used:
4. Establish connection of the supply voltage at X5/24E.
Connection of the keypad
1. Attach keypad to terminal X6 (while keeping the release button pressed).
2. If there is no external 24 V supply voltage: Switch on the mains supply.
After approx. 4 - 6 seconds the controller and the keypad are initialised. The keypaddisplays the main menu of the control software:
Tip!
The fastest way to commission the controller is via the "Quick commissioning"menu. This menu contains all parameters required to establish the basic readinessfor operation. It is suitable for the settings required to show whether the device isoperational and, furthermore, it is suitable for well-known applications requiringonly a few optimisations.
For the more extensive and detailed adaptation of parameters to specialrequirements, Lenze recommends the Engineer PC software (see documentationfor Engineer PC software and Software Manual for the controller).
Selecting the "Quick commissioning" menu with the keypad
Starting from the main menu, you get to the "Quick commissioning" menu by clicking the
key several times and then clicking the key:
SAVE
Par1 8400 HighLineC
User - Menu
Code list
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
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3.2.2 Code overview for quick commissioning by means of the keypad
If you are within the menu for quick commissioning with keypad, the individual
commissioning steps can be reached by accordingly pressing the key. The codescontained in the menu are listed in the following table:
Parameter Display in the keypad Information
C00002/1 Load Lenze setting Load Lenze setting
C00007 Select CtrlMode Selection of the operating mode
C00728/3 nMainSetValue_a Main setpoint (for the "Actuating drive speed" application)
C00011 Appl.: Reference speed Reference speed
C00012 Accel. time - main setpoint Acceleration time
C00013 Decel. time - main setpoint Deceleration time
C00015 VFC: V/f base frequency Base frequency
C00016 VFC: Vmin boost Vmin boost
C00022 Imax (motor mode) Current limit (in motor mode)
C00087 Rated motor speed Rated motor speed
C00089 Rated motor freq. Rated motor frequency
C00039/1 Fixed setpt 1 Fixed setpoint JOG1
C00727/3 bSetSpeedCcw Change of direction of rotation
C00727/4 bJogSpeed1 Jog value 1 for motor speed
C00051 MCTRL: Act. speed val. Current speed value
C00054 Motor curr. Motor current
Highlighted in grey = display parameter
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Commissioning with the keypad
If you select suitable and reasonable values for the parameters in this menu, you canensure an error-free operation of the controller.
Analog and digital control information (e.g. speed setpoint, CW rotation / CCW rotation)are selected depending on the setting of C00007 (e.g. selection through the digital inputs).
Keypad display Information
C00002
C00007
C00011
C00012
C00013
C00015
C00016
C00022
C00087
C00089
C00728/ 1 ... 3
C00039/ 1 ... 3
C00727/ 1 ... 8
C00051
C00054
EDIT
Load Lenze setting
C00002/1
C00007
C00011
C00012
C00013
C00015
C00016
C00022
C00087
C00089
C00728/3
C00728/1
C00728/2
C00039/1
C00039/2
C00039/3
C00727/1 ... 8
C00051
C00054
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3.3 Commissioning of the "Actuating drive speed" application
The predominant purpose of this commissioning is to commission a simple systemconstellation with few components. In the course of the step-by-step instructionsreference to further information is made, that is suitable for commissioning more complexspecifications.
[3-1] Block diagram for wiring the commissioning example for the "Actuating drive speed" application
Tip!
For a detailed description of the technology application, please see the chapter
TA "Actuating drive – speed" ( 349)
Control terminals at plug connector X3: • GA, reference ground (GND) for analog signals • AR, reference voltage (10 V) for analog signals • A1U, input 1 for analog signals (slider of the setpoint potentiometer R) Control terminals at plug connector X4: • RFR, controller enable (CINH)Parameterisation and diagnostics connection X6: • Communication between the PC and controller
VU W X3 X4X6
RFR 24IA1UARGA
M3~
i
RFR
8400 HighLine
8400 StateLine
X61
X6
R
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8400 HighLine C | Software ManualCommissioning
Commissioning of the "Actuating drive speed" application
3.3.1 Commissioning steps
1. Observe all safety measures required before switching on the device, for this also see Before switching on ( 30) .
2. Open the corresponding »Engineer«
– Press the function key F1 during the »Engineer« is open. By this you reach the online help.
3. Execute the start-up wizard
By means of the start-up wizard and the information contained in the online help
– you first create a project in the »Engineer«
– you establish a connection to the controller and its connected components, for instance via a diagnostic adapter.
When an online connection between the PC and the device has been established, there will be a colour change of the symbols in the project tree (left arrow) and a corresponding lettering in the lower part of the working area (right arrow). Click on the highlighted symbols on the left:
[3-2] Reference to the online connection in the project tree and the working area
Note!
In the general part of the menu structure of the online help basic operations are described in detail. Please refer to the following chapters and, if required, carry out the following:
• Chapter "Working with projects", e. g. "Creating a new project (select a component from the catalogue)", or "Creating a new project (Start search for connected devices)"
• Chapter "Project structure", e. g. select a motor, if possible, carry out motor identification run
• Chapter "Device functions in the online mode", e. g. "Setting a communication path and going online", establish connection between PC - device
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4. Loading of the Lenze setting
In order to be able to take a defined state as a basis for this commissioning, you have to load the Lenze setting.
– A description of how the Lenze setting is loaded by means of the »Engineer« can be found in the chapter Load Lenze setting ( 69)
5. Set the "Actuating drive speed" application
– Set "Actuating drive speed" C00005, (arrow) on the "Application parameters" tab in the "Application" list field.
The contents of the tab are adapted to the application set by means of the »Engineer«.
Within the device individual function blocks (e. g. ramp function generator, PID process controller, arithmetic function, etc.) are connected to each other, so that a signal flow for solving this drive task or application is generated.
Note!
After loading the Lenze setting (C00002/1 = 1), the status in the device is displayed by the »Engineer«. The change of a parameter value is shown by an
"unequal" symbol .
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Commissioning of the "Actuating drive speed" application
6. Select the control source
Depending on the task to be carried out, the source that controls the drive can be defined here (arrow).
In the example the control source "Terminals 0" (Lenze setting) is selected.
Important parameters
Detailed descriptions can be found inSelecting the control source ( 352)
Pre-assignment of the application block LA_NCtrl ( 368)
7. Start the application
– RFR = TRUE: enable controller
– By means of the setpoint potentiometer ("R", see graphics [3-1]), the speed can be varied.
Parameter Information
C00007 Select control mode
C00242 Operating mode
C00806 Use motor potentiometer yes / no
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3.3.2 Diagnostics
Why doesn't the motor rotate?
If, contrary to expectations, the motor does not carry out a movement after the last commissioning step, we recommend the following systematic means to find out the reason for this.
1. Check the signal flow with regard to plausible setpoints
2. Check setpoint sources
– Click on the "Drive control" button (see illustration) of the "Diagnostics" tab
The appearing view is a complete summary of all control sources having an impact on the controller:
[3-3] Diagnostics options for drive control
Tip!
This information can also be displayed by means of a keypad. For this call the codesspecified in the header of the table.
Control sources that are set to controller inhibit by the controller Control sources that are set to quick stop by the controller Control signals via CAN control word Control signals via MCI fieldbus module (e. g. Profibus) / Miscellaneous status information
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Commissioning of the "Table positioning" application
3.4 Commissioning of the "Table positioning" application
The predominant purpose of this commissioning is to commission a simple systemconstellation with few components. In the course of the step-by-step instructionsreference to further information is made, that is suitable for commissioning more complexspecifications.
[3-4] Block diagram for wiring the commissioning example for the "Table positioning" application
Tip!
For a detailed description of the technology application, please see the chapter
TA "Table positioning" ( 391)
Control terminals at plug connector X5: • RFR, controller enable • DI1, encoder, track A • DI2, encoder, track B • DI3, left hardware limit switch • DI4, right hardware limit switch • DI5, "PosExecute" function • DI6, DI7, setting of the operating mode (following operation, homing, manual jog, positioning) Parameterisation and diagnostics connection X6: • Communication between the PC and controller
VU W X5 GIDI7DI6DI5DI4DI3DI2DI1RFR24I24E
M3~
0-Position20 3010-10-20-30 40
+-
i
A B
PosExecute
RFR PosProfile
� d
8400 HighLine
X6
X61
X6
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3.4.1 Commissioning steps
1. Observe all safety measures required before switching on the device, for this also see Before switching on ( 30) .
2. Open the corresponding »Engineer«.
– Press the function key F1 during the »Engineer« is open. By this you reach the online help.
3. Execute the start-up wizardBy means of the start-up wizard and the information contained in the online help
– you first create a project in the »Engineer«
– you establish a connection to the controller and its connected components, for instance via a diagnostic adapter.
When an online connection between the PC and the device has been established, there will be a colour change of the symbols in the project tree (left arrow) and a corresponding lettering in the lower part of the working area (right arrow). Click on the highlighted symbols on the left:
[3-5] Reference to the online connection in the project tree and the working area
4. Loading of the Lenze setting
In order to be able to take a defined state as a basis for this commissioning, you have to load the Lenze setting.
– A description of how the Lenze setting is loaded by means of the »Engineer« can be found in the chapter Load Lenze setting ( 69)
Note!
In the general part of the menu structure of the online help basic operations are described in detail. Please refer to the following chapters and, if required, carry out the following:
• Chapter "Working with projects", e. g. "Creating a new project (select a component from the catalogue)", or "Creating a new project (Start search for connected devices)"
• Chapter "Project structure", e. g. select a motor, if possible, carry out motor identification run
• Chapter "Device functions in the online mode", e. g. "Setting a communication path and going online", establish connection between PC - device
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Commissioning of the "Table positioning" application
5. Set "Table positioning" application
– Next to the project tree there is the working area of the »Engineer«.
– Set "Table positioning" (upper arrow) on the "Application parameters" tab in the "Application" list field.
– The contents of the tab are adapted to "Table positioning" by the »Engineer«.
– Then the "Machine parameters" button appears (lower arrow)
6. Set the machine parameters
– Click on the "Machine parameters" button. The following dialog window opens:
– Parameterise all fields that are highlighted in yellow, e.g.:Gearbox factorFeed constantReference speed
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7. Enter the terminal assignment
– Call the "Terminal assignment" tab.
– Adapt the terminal assignment of the digital input terminals:
– In the example a two-track encoder has been selected, which is connected to terminals DI1 (track A) and DI2 (track B). Function assignment of the inputs: C00115/1, option 2:"DI1(6)&DI2(7)=FreqIn (2-track)", see upper arrow
– By clicking on the button highlighted by the lower arrow, a window for the parameterisation of the encoder will open (here: position encoder)
8. Enter the encoder increments
– Enter the corresponding data of your encoder.
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Commissioning of the "Table positioning" application
9. Enter the position encoder in the code
– Click on the "All parameters" tab
– Set code C00490/0 to "Encoder signal FreqIn12":
– Set the proportional gain of the position encoder to an appropriate value using code C00254/0. In the example Kp = "5" is selected
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10. Set homing
Click "Signal flow" button on the "Application parameters" tab, see arrow
Click on the button for homing in the "MotionControlKernel" block, see arrow
Click on the "Homing mode" button
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Commissioning of the "Table positioning" application
11. Start homing
– Enable the controller via RFR
– Input DI7 to TRUE ("Alternative function PosExecute")
12. Complete homing when the home position is reached. Switch the following digital inputs:
– DI7 = "FALSE"
– RFR = "FALSE".
Select the homing modeFor the example, a simple homing without touch probe was selected: The right limit switch, and then the zero position is approached, depending on the homing degree that is set.
Parameterise fields highlighted in yellow:
– Enter an appropriate starting speed C01224/1.
– Set the homing degree C01227/1 , i. e. the value in positive or negative direction from the limit position on the right
Select "Homing" operating mode via terminals
– At inputs DI5 and DI6 the profile is set via terminals. With DI5=FALSE and DI6=TRUE the operating mode is set to "Homing".
– With C01241 the status of the operating mode can be read out or checked in the "MotionControlKernel" function block ("Signal flow" button) by means of the position of the switch displayed, see arrow
For further information, see Specifying an operating mode
( 417)
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13. Enter one or more profiles
[3-6] Assignment of the profile numbers 0 ... 15 in the Lenze setting
Note!
In the Lenze setting the profile numbers 0 ... 2 are assigned to following operation, homing, and ManualJog.
Therefore the positioning profile has to receive a profile number ≥ 3.
The assignment of the profile numbers (see illustration) is reached as follows in the »Engineer«: "Application parameters" tab "Signal flow" button "MCK interface (control)" button in the "MCKInterface" block
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Commissioning of the "Table positioning" application
The profile entry field can be reached via the "Profile entry" button on the "Application parameters" tab:
– Parameterise the fields required
– If required, enter the sequence profile
– Then press "Back" button (at the top of the tab)
14. Start positioning
– DI5 = TRUE, DI6 = TRUE: "Positioning" operating mode
The status switch displayed in the MotionControlKernel (see "Signal flow") now adopts the following position:
– RFR = TRUE: enable controller
– DI7 = TRUE: start positioning with ("PosExecute")
8400 HighLine C | Software ManualDrive control (DCTRL)
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4 Drive control (DCTRL)
This chapter gives information about the device function "Drive control DCTRL". This devicefunction serves to control the controller into defined states and retrieve status informationvia the system block LS_DriveInterface:
The device displays status information in different ways
– as optical display via front LEDs to signalise the operating status. LED status displays
– as text message in the keypad / Engineer.
– as process signal at the output of the system block LS_DriveInterface
– as diagnostic parameter
The operating states of the controller are based on the DS402 standard. Device states ( 56)
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8400 HighLine C | Software ManualDrive control (DCTRL)
LED status displays
4.1 LED status displays
The states of the "DRIVE READY" and "DRIVE ERROR" LEDs on the front of the controllerdepend on the device state. Device states ( 56)
Tip!
The current device state is also displayed in C00137.
DRIVE READY DRIVE ERROR Status
Off Off Init
Off SafeTorqueOff
Off ReadyToSwitchON
Off SwitchedON
Off OperationEnabled
Warning The controller is ready to switch on, switched on or the operation is enabled and a warning is indicated.
TroubleQSP
Off Trouble
Off Fault
Off SystemFault
LegendThe symbols used for indicating the LED states have the following meaning:
LED flashes once approx. every three seconds (slow flash)
LED flashes once approx. every 1.25 seconds ( flash)
LED flashes twice approx. every 1.25 seconds (double flash)
LED blinks every second
LED is permanently on
DRIVE READYDRIVE ERROR
8400 HighLine C | Software ManualDrive control (DCTRL)Device states
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4.2 Device states
The state machine controls the controller into defined states that can be diagnosed withthe following codes:
C00137 , output of status designation
C00150 , bit-coded output in the status word (bits 8 ... 11)
In the diagram below, the arrows between the device states indicate the starting and endpoints of the possible state changes. The figures represent the state ID, see table Devicestates ( 57)
[4-1] Device state machine
Pulse inhibit (grey field)
Can be reached from all states.
"Warning" contradicts the definition of a device state. In fact, it is a message which is to call attention to the device state the warning exists for."Warning" can occur in parallel to other states.
ReadyToSwitchON
3
Init
1
SwitchedOn4
OperationEnabled
5
Trouble
7TroubleQSP
9
�
SystemFault11
FirmwareUpdate
0
SafeTorqueOff
10
Fault
8
�
�
Warning
6Warning
6
MotorIdent2
�
Power on
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8400 HighLine C | Software ManualDrive control (DCTRL)
Device states
The change from one state to the other is carried out within one processing cycle, i.e.within t = 1 ms. If within this time there are several requests for state changes, the statewith the higher priority is processed first. The priority sequence is listed in the below table:
[4-1] Device states
4.2.1 Firmware update
State priority State designation ID Status bits Meaning
Bit 11 Bit 10 Bit 9 Bit 8
- Firmware update 0 0 0 0 0 Firmware download function is active
- Init 1 0 0 0 1 Initialisation is active
- MotorIdent 2 0 0 1 0 Motor parameter identification is active
Prio 8 ReadyToSwitchON 3 0 0 1 1 Device is ready to start
Prio 7 SwitchedON 4 0 1 0 0 Device is switched on
Prio 4 OperationEnabled 5 0 1 0 1 Operation
- Warning 6 0 1 1 0 Warning / warning locked is active
Prio 6 Trouble 7 1 1 1 1 Trouble is active
Prio 10 Fault 8 1 0 0 0 Fault is active
Prio 5 TroubleQSP 9 1 0 0 1 TroubleQSP is active
Prio 9 SafeTorqueOff 10 1 0 1 0 Safe torque off is active
Prio 11 SystemFault 11 1 0 1 1 System fault is active
Note!
This function may only be executed by qualified Lenze personnel!
8400 HighLine C | Software ManualDrive control (DCTRL)Device states
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4.2.2 Init
In this state
– the controller is directly after switching on the 24 V supply voltage.
– the operating system is initialised.
– all device components (communication module, memory module, power section, etc.) are identified.
The inverter is inhibited, i.e. the motor terminals (U, V, W) of the inverter are deenergised.
The digital and analog inputs are not yet evaluated at this time.
The bus systems (CAN, PROFIBUS etc.) do not work yet, i.e. communication is not possible.
The application is not yet processed.
The monitoring functions are not yet active.
The controller cannot be parameterised yet and no device commands can be carried out yet.
When the power section is identified, it is checked first that it is switched on and that therequired voltage is within the tolerance zone.
Note!
If there is an undervoltage situation in the DC bus, the controller changes -depending on the configuration - to the "Trouble" or "Fault" state or remains in
the "ReadyToSwitchON" state if there is a mains supply failure.
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off Off Init
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8400 HighLine C | Software ManualDrive control (DCTRL)
Device states
4.2.3 MotorIdent
8400 frequency inverters are provided with a function for automatic identification ofmotor parameters, see functional description Motor data identification .
The "MotorIdent" device state can only be reached by the "SwitchON" device state andjumps back to that state after the action is completed.
The following illustration shows, under which conditions the state change will be enabledor stopped:
[4-2] Conditions for the state change of the motor identification
While the motor parameters are being detected,
the application remains active
all system interfaces (IOs, bus systems, etc.) remain active
error monitoring remains active
the inverter is controlled independently of the setpoint sources.
Detailed description: Automatic motor parameter identification ( 140)
4.2.4 SafeTorqueOff
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off MotorIdent
Stop!
During motor parameter identification, the controller does not respond to setpoint changes or control processes, (e.g. speed setpoints, QSP, torque limitations).
ReadyToSwitchON
3
C0002/23 = 1CINH = 1
MotorIdent2
&
Danger!
This state is only possible together with a connected safety module and an existing power section supply.
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4.2.5 ReadyToSwitchON
The controller is in this device state directly after the initialisation has been completed!
The bus systems are running and the terminals and encoders are evaluated.
The monitoring modes are active.
The controller can be parameterised.
The application is basically executable.
Auto-start option C00142 = 1: Auto restart inhibited after power-up
If the auto-start option C00142 = 1 inhibit at "mains off", Lenze setting) has been selected, the controller must be explicitly reset after the mains is switched on so that the controller state changes from "Device is ready to switch on" to "Device is switched on:
[4-3] State change when auto restart is enabled (C00142 = "1")
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off ReadyToSwitchON
Controller pulses are inhibitedController pulses are enabled
With controller inhibit during power-upWithout controller inhibit during power-up
RFR�
� �
RFR
RFR
RFR
t
t
�
Initialisation Switched on OperationReady to switch on
Initialisation Switched on OperationReady to switch on
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8400 HighLine C | Software ManualDrive control (DCTRL)
Device states
Auto-start option C00142 = 0: Auto restart enabled after power-up
The following figure shows the state changes for the auto-start option C00142 = 0 as a function of the controller inhibit:
[4-4] State change when auto restart is enabled (C00142 = "0")
Tip!
Code C00142 can also be used to configure that the controller inhibits the auto-start function if
• there is a "Trouble" error status or
• a "Fault" error status or
• an undervoltage situation has been detected
Controller pulses are inhibitedController pulses are enabled
With controller inhibit during power-upWithout controller inhibit during power-up
RFR�
� �
RFR
RFR
RFR
t
t
�
Initialisation Switched on OperationReady to switch on
OperationInitialisation Switched onReady to switch on
8400 HighLine C | Software ManualDrive control (DCTRL)Device states
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4.2.6 SwitchedON
The drive is in this device state when the DC-bus voltage is applied and the controller is stillinhibited by the user (controller inhibit). The cause for the controller inhibit (CINH) isindicated under C00158.
The bus systems are running and the terminals and encoders are evaluated.
The monitoring modes are active.
The application is basically executable.
When the controller is enabled, the motor creates a torque.
4.2.7 OperationEnabled
In this device state, the motor follows the setpoint defined in the application.
4.2.8 Warning
This display may occur in all device states if a monitoring mode responds, the errorresponse "Warning" or "Warning locked" has been parameterised for.
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off SwitchedON
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off OperationEnable
LED DRIVE READY LED DRIVE ERROR Display in C00137
Warning
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Device states
4.2.9 TroubleQSP
This device state will be active as soon as a monitoring mode responds, the error response"TroubleQSP" has been parameterised for.
The drive is decelerated to standstill with torque within the deceleration time parameterised for quick stop independently of the defined setpoint and can be kept there.
The device state can only be abandoned by acknowledging the error if the error cause is removed.
When the controller is inhibited, it is possible to jump to the "SwitchedON" state even during the error state since the controller inhibit function has a higher priority. As long as the error is pending and has not been acknowledged, the state is changed back to the "TroubleQSP" state when the controller is enabled afterwards.
Depending on certain conditions a state change takes place based on the "TroubleQSP"device state.
LED DRIVE READY LED DRIVE ERROR Display in C00137
TroubleQSP
State no. State name Condition(s) for the state change
15 ReadyToSwitchON Control bit "SwitchON" = FALSE
16 OperationEnabled Control bit "ControllerInhibit" of all control channels = TRUE& error has been reset by control bit "ResetFail"& no other error is pending
17 SwitchedON Control bit "ControllerInhibit" of one control channel = FALSE& error has been reset by control bit "ResetFail"& no other error is pending.
18 Trouble A message is active in the system.
8400 HighLine C | Software ManualDrive control (DCTRL)Device states
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4.2.10 Trouble
This device state becomes active as soon as a monitoring mode responds for which theerror response "Trouble" has been parameterised.
The motor has no torque (is coasting) due to the inhibit of the inverter.
The "Trouble" device state is automatically abandoned if the error cause has been removed.
Depending on certain conditions a state change takes place based on the "Trouble" devicestate.
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off Trouble
State no. State name Condition(s) for the state change
11 ReadyToSwitchON This state is assumed automatically without evaluating any control bits
12 OperationEnabled Control bit "ControllerInhibit" of all control channels = FALSE& the message has been cancelled again
13 SwitchedON Control bit "ControllerInhibit" of one control channel = TRUE& the message has been cancelled again
14 TroubleQSP In the system, there is an error configured on "TroubleQSP"& the message has been cancelled again
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Device states
4.2.11 Fault
This device state will be active as soon as a monitoring mode responds, the error response"Fault" has been parameterised for.
The motor has no torque (is coasting) due to the inhibit of the inverter.
To exit the device state, "Fail reset" must be set.
When "Fail reset" has been carried out, a change to the "ReadyToSwitchON" state takesplace.
Tip!
For more detailed information on the error messages, see
Overview of the error messages of the operating system ( 303) or
Cause & possible remedies ( 305).
4.2.12 SystemFault
This device state becomes active if a system fault occurs.
The device state can only be abandoned by
– mains switching or
– a system restart (in preparation).
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off Fault
Note!
If an undervoltage (error message "LU") occurs in the DC bus of the frequency inverter, the device changes to "Trouble".
An additional error with a higher priority leads the device into the "Fault" state.
According to the Device state machine ( 56), the device changes to "ReadyToSwitchOn" after acknowledging the error although the undervoltage is still available!
LED DRIVE READY LED DRIVE ERROR Display in C00137
Off SystemFail
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4.3 Controller commands
4.3.1 General information
The commands in the subcodes of code C00002 enable
the direct control of the controller. This comprises e.g. the following subcodes:
– 16, controller enable (CINH)
– 17, quick stop (QSP)
– 26, CAN reset node
the management of parameter sets and diagnosis services:
– Parameter set management, e.g. subcodes 7 ... 11, saving parameter sets
– Logbook management
– Error management
– Identification, e.g. motor parameters, inverter characteristic
Regarding the execution of the commands, there are two different groups:
1. Commands with immediate control effect (e.g. quick stop). These commands contain the static status information ON or OFF.
2. Commands with a pure command nature
The controller commands with pure command nature do not execute the actionimmediately (it may take some seconds until the action has been executed). However,after the command is written, they demonstrate the command progress by deliveringdynamic status information.
How to read out the degree of processing from the controller:
1. Write the value "1" (Start) to e.g. C0002/11
• A write operation to C0002/xx with values >1 is rejected by the device and acknowledged with an error message.
2. In the above example, read C0002/11 until the value "0" (Ready) is indicated.
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Controller commands
Certain commands can only be executed if the controller is inhibited, e.g.
Load Lenze setting C00002/1
Load all parameter sets, C00002/6
Identify motor parameters, C00002/23
If these commands are executed without the controller being inhibited, the returnedinformation is:
"6": No access controller inhibit
The following subchapters describe the controller commands in the controller in detail.
With an online connection, the controller commands can be activated from the »Engineer«by selecting the corresponding command in the Parameters tab under C00002. As analternative, the controller commands can be activated via the keypad.
Tip!
Many frequently required controller commands (e.g. "Save start parameters") canbe executed via the toolbar icons of the »Engineer«.
Note!
C00003 always displays the last error occurred, if e.g. a command should fail.
Status display for controller commands (in preparation) ( 68)
Stop!
When a controller command has been transmitted via C00002 and the supply voltage is to be switched off, first check via C00002 that the controller command has been completed successfully, see C00002/11 (save parameter set). This particularly applies to controller commands used for saving data in the memory module of the device. If the saving process cannot be completed successfully, data inconsistency can occur in the memory module.
Note!
Controller commands that can be executed via the toolbar of the »Engineer« always affect the element currently selected in the Project view including all subelements.
• If no controller, but e.g. a system module is selected in the Project view, the
corresponding controller command (e.g. load parameter set ) will be activated in all lower-level controllers having an online connection with the »Engineer«.
For the commands described in the following subsections, the controller must be selected in the Project view.
8400 HighLine C | Software ManualDrive control (DCTRL)Controller commands
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4.3.2 Overview of controller commands
[4-2] Overview of controller commands, "CINH": controller must be inhibited
4.3.3 Status display for controller commands (in preparation)
For almost all controller commands, the status is displayed under C00002, e.g. whether thecontroller command has been executed successfully or an error has occurred during theexecution. If an error has occurred (i.e. C00002 provides the value "4" ---> Failed onreadback), you can read out the parameter 3 for detailed error diagnosis.
C00003 shows the status of the device command carried out last.
The controller commands which support the status display via C00002 can be obtained from the table in the previous chapter "Overview of controller commands" (see column "Static / command").
The content of C00003 remains unchanged if a controller command does not support the status display.
C00002 Information Static/comman
dSubcode Controller command
1 Load Lenze setting Load Lenze setting ( 69) CINH
2...5 Reserved -
6 Load all parameter sets CINH
7...10 Reserved -
11 Save all parameter sets -
12...15 Reserved -
16 Enable controller Setting/removing the controller inhibit ( 81)
-
17 Activate quick stop Activation/deactivation of quick stop function (QSP) ( 82)
-
18 Reserved -
19 Reset error Reset of error message ( 301) -
20 Reserved -
21 Delete logbook Logbook ( 292) -
22 Reserved -
23 Identify motor parameter CINH
24 Reserved -
25 Reserved -
26 CAN reset node -
27...32 Reserved -
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Controller commands
4.3.4 Load Lenze setting
This controller command resets the parameter settings to the Lenze setting. All parameterchanges get lost.
Only possible when the controller is inhibited.
This controller command has an effect on the settings of the parameters of the operating system, application and module.
How to load the Lenze setting:
1. Click the icon to set the controller inhibit.
• A confirmation prompt is displayed asking you if the controller should really be inhibited.
2. Confirm confirmation prompt with Yes to continue the action.
3. Execute device command C00002/1 = 1: "On / Start".
4.3.5 Saving the parameter set
Controller parameter changes made via the »Engineer« or keypad will get lost after mainsswitching of the controller unless the settings have been explicitly saved with thecorresponding controller command in the memory module of the controller.
How to save all parameter sets safe against mains failure in the memory module:
Execute device command C00002/11 = 1: "On / Start".
4.3.6 Loading the parameter set
Activation of this controller command reloads all parameters from the memory moduleinto the controller. All parameter changes made since the last saving of the parameter setwill get lost.
Only possible when the controller is inhibited
This controller command has an effect on the settings of the parameters of the operating system, application and module.
How to reload the starting parameters from the memory module:
1. Click the symbol to inhibit the controller and stop the application currently running.
• A confirmation prompt is displayed asking you if the controller should really be inhibited and the application currently running should be stopped.
2. Confirm confirmation prompt with Yes to continue the action.
3. Execute controller command C00002 / 6 = "1", Load all parameter sets.
8400 HighLine C | Software ManualDrive control (DCTRL)System block "LS_DriveInterface"
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4.4 System block "LS_DriveInterface"
The system block LS_DriveInterface displays the drive control DCTRL in the FB editor.
LS_DriveInterface
2
1
3
14
7
X5/28
bFailReset
bCInh
bStatus_Bit0
bStatus_Bit2
bStatus_Bit3
bStatus_Bit4
bStatus_Bit5
PowerDisabled
ActSpeedIsZero
ControllerInhibit
StatusCodeBit1
StatusCodeBit2
StatusCodeBit3
StatusCodeBit4
Warning
MessagebStatus_Bit14
bStatus_Bit15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Status
C00002 / 16
.........
C00002 / 17C00002 / 19
wDeviceStatusWord
wMciControl
Bit 015
Bit 015
?
wCanControl
QSP
Disable
CINH
Fail-RESET
Fail-SET
wStateDetermFailNoLow
wStateDetermFailNoHigh
bInit
bSafeTorqueOff
bReady
bReadyToSwitchOn
bOperationEnable
bWarning
bTrouble
bFault
bSystemFail
bSafetyIsActive
bImpIsActive
bCInhIsActive
bCwCcw
bNactCompare
{
{
{
{
{
Bit1
Bit 2
Bit3
Bit14
Bit7
2
1
3
14
7
3
1
4 5
7 9
11
010
8
DriveCommands
}C00002/17
C00002/16
C00002/19
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System block "LS_DriveInterface"
Inputs
IdentifierDIS code | data type
Information/possible settings
wCANControlC00136/1 | WORD
Control word and status word of the controller ( 73)The controller controlled by a higher-level control (e.g. IPC) receives its control word via the CAN bus (connection to plug connector X1). The process data word is provided at this input by the upstream port block LP_CanIn1.For a detailed description of the individual control bits, see below.
wMCIControlWORD
Control word via communication module (e.g. PROFIBUS)The controller controlled by a higher-level control (e.g. IPC) receives its control word via an attached communication module. The process data word is provided at this input by the upstream port block LP_MciIn1.For a detailed description of the individual control bits, see below.
bCInhC00833/36 | BOOL
Setting/removing the controller inhibit ( 81)
True The controller is set to the SwitchedON state.
False The controller is set to the OperationEnabled state.
bFailResetC00833/37 | BOOL
Reset of error message ( 301)
True The current error is reset.
False The current error is not reset.
bStatus_Bit0bStatus_Bit2bStatus_Bit3bStatus_Bit4bStatus_Bit5bStatus_Bit14bStatus_Bit15
C00833/38 ... 44 | BOOL
Freely assignable bit positions of the controller's status word.You can use these bit positions for returning information to the higher-level control (e.g. IPC).
8400 HighLine C | Software ManualDrive control (DCTRL)System block "LS_DriveInterface"
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Outputs
IdentifierDIS code | data type
Value/meaning
wDeviceStatusWordC00150 | WORD
Control word and status word of the controller ( 73) , based on DSP-402The status word contains all information required for controlling the controller. The process data word is sent to the higher-level control via a port block: • port block LP_CanOut1 for use of the on-board CAN or • port block LP_MciOut1 for use of an attached communication module .
wStateDetermNoLowWORD
Display of the state-determining error (low)
wStateDetermNoHighWORD
Display of the state-determining error (high)
*) all BOOL True State control of the controller is in state:
bInit *) • Init
bSafeTorqueOff *) • SafeTorqueOff
bReady *) • Ready
bReadyToSwitchOn *) • ReadyToSwitchON
bOperationEnable *) • OperationEnable
bWarning *) • Warning
bTrouble *) • OperationEnable
bFail *) • Fault
bSystemFail *) • SystemFail
bSafetyIsActive In preparation
bImpIsActive True Pulse inhibit is active
bCInhIsActive True Controller inhibit is active
bCwCcw True Motor rotates in CCW direction
bNactCompare For open-loop operation: speed setpoint = comparison value C00024For closed-loop operation: actual speed value = comparison value C00024
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Control word and status word of the controller
4.5 Control word and status word of the controller
The control word (C00136) and the status word (C00150) assignments depend on theselected technology application (TA, C00005).
Overview
Control word for TA "Speed closed-loop control" ( 74)
Status word for TA "Speed closed-loop control" ( 75)
Control word for TA "Table positioning" ( 76)
Status word for TA "Table positioning" ( 76)
Word Name Scaling
Input word w1 MainSetValue 16384 (214) ≡ 100 % (referred to C00011)
Word Name Scaling
Output word w1 MotorSpeedAct 16384 (214) ≡ 100 % (referred to C00011)
Word Name Scaling
Input word wIn2 SpeedOverride 16384 (214) ≡ 100 % (speed of active profile)
Input word dnIn34 PosProfilePosition 65535 (216) inc ≡ 1 revolution of motor shaft,see position resolution C00125 ,
Word Name Scaling
Output word wOut2 GPSignalOut1_a 16384 (216) ≡ 100 %
Output word dnOut34 SetPos_p
8400 HighLine C | Software ManualDrive control (DCTRL)Control word and status word of the controller
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Control word for TA "Speed closed-loop control"
[4-3] Controller control word for application "Speed closed-loop control"
Bit Function Lenze function Information
0 SwitchOn TRUE: Device state changes to SwitchON
OR operation between wCANDriveControl_Bit0 and wMCIDriveControl_Bit0
At least one of the CAN or MCI control words = TRUE, so that the device changes to the SwitchOn state at switching on without a higher-level control having to set this bit via the fieldbus.
If control via a bus system is not wanted (e.g. in the case of control via terminals), the output signal wDriveCtrl of the LS_ParFix block can be connected to the control word inputs.
1 DisableVoltage TRUE: IMP pulse inhibit Inhibit inverter control (IMP)
2 SetQuickStop TRUE: QSP quick stop Execute quick stop (QSP)
3 Enable operation TRUE: controller enable Enable controller (RFR)-->see bit 0, SwitchOnFor terminal control, the value "1" must be set in both control words because otherwise the controller will be inhibited.
4 ModeSpecific_1 Reserved Currently not assigned
5 ModeSpecific_2
6 ModeSpecific_3
7 ResetFault TRUE: TRIP reset Reset error (trip reset)
8 SetHalt TRUE: activate stop function Stop drive via stopping ramp (in preparation)
9 reserved_1 -
10 reserved_2 -
11 SetDCBreak TRUE: SetDCBreak DC injection brake
12 JogSpeed1 TRUE: JogSpeed1 Activation of fixed speed
13 JogSpeed2 TRUE: JogSpeed2 Activation of fixed speed
14 SetFail TRUE: SetFail Set error (trip set)
15 SetSpeedCcw TRUE: SetSpeedCcw CCW direction of rotation
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Control word and status word of the controller
Status word for TA "Speed closed-loop control"
[4-4] Controller status word (C00150) for application "Speed closed-loop control"
[4-5] Extended status word 2, C00155 , of the controller for application "Speed closed-loop control"
Bit Function Information
0 FreeStatusBit0 not assigned, freely usable
1 PowerDisabled Inverter control is inhibited (IMP)
2 FreeStatusBit2 not assigned, freely usable
3 FreeStatusBit3
4 FreeStatusBit4
5 FreeStatusBit5
6 ActSpeedIsZero Current speed < threshold value C00024
7 ControllerInhibit Controller inhibit is active
8 StatusCodeBit0 Status ID (bit-coded)see table
Device states ( 57)9 StatusCodeBit1
10 StatusCodeBit2
11 StatusCodeBit3
12 Warning Drive indicates device state: "Warning"
13 Trouble Drive indicates device state: "Trouble", e.g. with overvoltage
14 FreeStatusBit14 not assigned, freely usable
15 FreeStatusBit15
Bit Function Information
0 Fail
1 M_max
2 I_max
3 PowerDisabled
4 Ready
5 ControllerInhibit
6 Trouble
7 InitState
8 CwCcw
9 TroubleQSP
10 SafeTorqueOff
11 ApplicationRunning
12 AplParSetBit0
13 AplParSetBit1
14 Quick stop
15 Motorpar. Ident.
8400 HighLine C | Software ManualDrive control (DCTRL)Control word and status word of the controller
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Control word for TA "Table positioning"
[4-6] Controller control word for application "Table positioning"
Status word for TA "Table positioning"
[4-7] Controller status word for application "Table positioning"
Bit Function Lenze function Information
0 MckOperationMode_1 Selection of operating mode of MotionControlKernelStatus ID (bit-coded), for assignment see
Control double word for activating the MotionControlKernels ( 416)1 MckOperationMode_2
2 MckOperationMode_4
3 CINH TRUE: set controller inhibit
4 PosProfileNo_1 Selection of profile numberFor assignment see
Control double word for activating the MotionControlKernels ( 416)5 PosProfileNo_2
6 PosProfileNo_4
7 PosProfileNo_8
8 PosExecute TRUE: start positioning
9 EnableSpeedOverride TRUE: activate speed override
10 HomeSetPosition TRUE: set home position
11 FailReset TRUE: reset error
12 ManJogNeg TRUE: activate fixed speed (negative)
Activate CCW rotation or CW rotation in "Manual jog"---> C0123113 ManJogPos TRUE: activate fixed speed
(positive)
14 not assigned
15 not assigned
Bit Function Information
0 DriveFail Fault is active
1 GPSignalOut1 General-purpose binary signal monitor
2 GPSignalOut2
3 CInhActive Controller inhibit is active
4 DriveReady Status: readiness for operation
5 DigitalInput5 Status of digital input 5
6 DigitalInput6 Status of digital input 6
7 DigitalInput7 Status of digital input 7
8 InTarget Position in target window reached, C01245
9 ProfileBusy Profile is being processed
10 HomePosAvailable Home position is available
11 SpeedActCompare Actual speed ≥ C00024
12 DigitalInput4 Status of digital input 4
13 DigitalInput3 Status of digital input 3
14 QSPIsActive Quick stop is active
15 not assigned
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Parameter setting
4.6 Parameter setting
4.6.1 General information
The controller can be adapted to a specific task by means of parameters. There are differentways to parameterise the controller:
Keypad
CAN on board
Fieldbus communication (MCI interface)
Diagnostic interface
Parameter identification
Each parameter has
a parameter number which is unique within a drive system
a parameter text
specific attributes
– access type (read, write)
– data type
– limit values
– Lenze setting (factory-set scaling)
Division of the parameters into groups
The parameters are divided into the following function groups:
A. Setting parametersParameters for setting a device function, e.g. acceleration ramp, reference speed, max. motor current
B. Configuration parametersParameters for setting signal flows (FB interconnection) in the device, e.g. connection of the main setpoint to the analog input of the controller
C. Diagnostic parametersParameters for displaying device-internal process variables, e.g. the actual motor voltage or the control word. The diagnostic parameters have the attribute: read only.
8400 HighLine C | Software ManualDrive control (DCTRL)Parameter setting
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Changing of parameters
Changing a parameter usually causes an immediate response of the controller.
The exceptions are certain controller commands, e.g. C00002/1 ("Load Lenze setting") orsettings which might cause a critical state of the drive behaviour, e.g. a change of theactual speed value feedback configuration for closed-loop operation of the motor control.Such parameter changes are only accepted if the controller is inhibited, otherwise an errormessage is generated.
4.6.2 Saving of the parameters in the memory module
All parameters of the drive system are saved in the integrated memory module of thecontroller. This includes
the parameters of the controller
the parameters of the communication module plugged into the MCI interface
the parameters of the possibly existing safety module (device variant)
When the device is switched on, all parameters are automatically loaded from the memorymodule into the main memory of the controller.
The memory module functions correctly even if the controller is fed by the external 24Vsupply and the mains supply remains switched off.
In the event of a device replacement, the entire parameter data of an axis can be retainedby "taking along" the memory module, so that additional PC or keypad operations are notrequired.
The controller is provided with one data set for all parameters, i.e. every setting andconfiguration parameter has a value.
(In preparation: Several parameter sets per controller)
Danger!
If you change configuration parameters, please observe that this causes the device-internal signal flow to change immediately which could result in a sudden change of setpoint sources (if, for instance, the signal source for the main setpoint is configured).
This can lead to an undesired behaviour at the motor shaft.
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Parameter setting
4.6.3 Handling of the memory module
In the delivery state, the Lenze setting of the parameters is stored in the memory module.
The following cases are distinguished regarding the handling:
• Delivery
– All devices are delivered with a plugged-on memory module.
– The memory module can be preconfigured with customer-specific data.
– The memory module is available as a spare part - without any data.
• During operation
– When the memory module is plugged on/off, a message is generated.
– Parameter sets can be saved manually.
– Parameter sets can be loaded manually
• Plugging off the memory module
– When the memory module is plugged off, an error message is generated. Therefore, this should not be done during normal operation of the controller.
– Nevertheless, the memory module can be plugged off/on during operation. The behaviour of the device remains basically unchanged because all parameters are available in the RAM after the device has been started.
– The device can also be parameterised when the memory module has been plugged off. Saving of the parameter sets to the memory module then, of course, is not possible.
• Replacement of the controllerIf the controller has to be replaced, observe the versions of the devices. Generally, the following applies:
– Before the data are transferred, the version is checked.
– Parameter sets of devices with V 1.0 can be processed on devices ≥ V 1.0(downward compatibility).
– An error message is generated if the parameter set versions of the two devices are not compatible.
– Parameters of a higher device version are not supported on devices with a lower version.
– Parameter sets of a device with less functions (e.g. 8400 StateLine) can be loaded and executed in devices with more functions (e.g. 8400 HighLine). The reverse is not possible!
Note!
Automatic saving is explicitly not supported because this significantly reduces the service life of the memory module.
8400 HighLine C | Software ManualDrive control (DCTRL)Parameter setting
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4.6.4 Non-volatile saving of parameters
To save changed parameters permanently (i.e. safe against mains failure), the controllercommand C00002/11 must be called separately. This command copies all parametersfrom the RAM of the device to the memory module.
This process may take some seconds.
The state of the saving process is indicated by the status of the corresponding controllercommand C00002/11.
The controller command C00002/1 can be used to reset the controller to the Lenze settingof the parameters (delivery state)
4.6.5 Parameter set transfer
The »Engineer« PC program can be used to
save the parameter set to the memory module of the controller ,
read the parameter set from the controller ,
transfer the parameter set to the controller .
Note!
Please observe the following points during the saving process to avoid data inconsistency, which could cause an error when loading the parameters from the memory module:
• Do not switch off the supply voltage.
• Do not pull off the memory module from the device.
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8400 HighLine C | Software ManualDrive control (DCTRL)
Parameter setting
4.6.6 Parameters for status display
4.6.7 Setting/removing the controller inhibit
Setting the controller inhibit inhibits the power output stages in the controller and resetsthe speed/current controllers of the motor control.
When the controller is inhibited, the status output bCInhActive of the system block LS_DriveInterface is set to TRUE.
The controller can be inhibited by different sources, e.g. using the digital input RFR, the bCInh input of the LS_DriveInterface system block or via the "Inhibit controller" controller command (C00002/16 = "0").
The bit code under C00158 shows the source that inhibited the controller.
Parameter Information
C00002 Controller command transmission and execution status
C00003 Status of the last device command
C00136/1 MCI control word
C00136/2 CAN control word
C00137 Device state
C00150 Status word
C00155 Status word 2
C00158 Cause of controller inhibit (CINH)
C00159 Cause of quick stop
C00165/1 Status-determining error as numeric text
C00165/2 Current error as numeric text
C00166/1 Error type, status-determining
C00166/2 Subject area, status-determining
C00166/3 Error ID, status-determining
C00166/4 Error type, current
C00166/5 Subject area, current
C00166/6 Error ID, current
C00168 Status-determining error (display of 32-bit number)
Highlighted in grey = display parameter
8400 HighLine C | Software ManualDrive control (DCTRL)Activation/deactivation of quick stop function (QSP)
82 L Firmware 02.00 - DMS EN 3.0 - 05/2009
4.7 Activation/deactivation of quick stop function (QSP)
When the quick stop function is activated, it
disconnects the motor control from the selected setpoints and brakes the motor to standstill (nact = 0) along the quick stop ramp (C00105).
holds the motor at standstill (only at closed-loop operation)
sets the pulse inhibit (CINH) if the auto-DCB function has been activated via C00019.
Activation of the quick stop function
The quick stop function can be activated by different signal sources:
Controller command C00002/17 , activate quick stop
Bit 2 in the control word of the fieldbus communication (CANonboard / MCI) set to TRUE
Occurrence of a device error which is set to the "TroubleQSP" response type.
Input signal at the LS_MotorInterface system block (motor control) set to TRUE.
Tip!
The cause of a quick stop can be displayed via the parameter C00159.
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8400 HighLine C | Software ManualMotor control (MCTRL)
5 Motor control (MCTRL)
This chapter contains information on the internal motor control parameterisation of thecontroller, i.e. this chapter describes:
Control types and related signal flow diagrams
Motor selection
Motor parameterisation
Optimisation of the internal control loops of the motor control.
See also: Parameterising the V/f characteristic control without feedback ( 90)
Parameterising V/f characteristic control with feedback ( 94)
Sensorless vector control (SLVC) ( 106)
Servo control (SC) ( 117)
Encoder evaluation ( 211)
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
84 L Firmware 02.00 - DMS EN 3.0 - 05/2009
5.1 Selection of the operating mode
The motor control process is defined with the selection of the operating mode, see C00006.
Different processes are available, which can be operated as follows regarding the speedfeedback:
V/f characteristic control (VFCplus) ( 88)
– Without speed feedback, VFCplus: linear V/f characteristic (C00006, value: 6)
– With speed feedback, VFCplus: linear V/f characteristic (C00006, value: 7)
– Without speed feedback, VFCplus: quadratic V/f characteristic (C00006, value: 8)
– With speed feedback, VFCplus: quadratic V/f characteristic (C00006, value: 9)
Sensorless vector control (SLVC) ( 106)
– Without speed feedback, sensorless vector control (C00006, value: 4)
Servo control (SC) ( 117)
– With speed feedback, field-oriented vector control (C00006, value: 2)
Note!
In all operating modes, an influence can be exercised on the torque via two process signal inputs:
• V/f characteristic control (VFCplus)Indirect influence via the effect on the Imax controller through
– nTorqueMotLim C00728/1: Limitation of the torque in motor mode
– nTorqueGenLim C00728/2: Limitation of the torque in generator mode
• Sensorless vector control ("SLVC") and servo control ("SC")Direct influence on the torque-generating current component through
– nTorqueMotLim C00728/1: Limitation of the torque in motor mode
– nTorqueGenLim C00728/2: Limitation of the torque in generator mode
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
V/f characteristic control (VFCplus)
The V/f characteristic control (VFCplus) is an operating mode for standard frequencyinverter applications based on a simple and robust control process which is suitable for theoperation of machines with linear or square-law load torque characteristic (e.g. fans).Furthermore, this operating mode is also suitable for group drives and special motors. Dueto the low parameterisation effort, commissioning of such applications is fast and easy.
The parameters required for optimising the drive behaviour C00016 (Vmin) and C00021(slip compensation) are dimensioned for machines with power adaptation to the inverterin the Lenze setting .
If a feedback of the speed is used, the V/f characteristic control (VFCplus) can be providedwith an additional slip regulator which dynamically adapts the actual speed value to thespeed setpoint.
Field-oriented vector control
The field-oriented vector control (SLVC) is based on a decoupled, separate control of thetorque-generating and the field-generating current component. The actual speed isreconstructed via a motor model so that there is no speed encoder required. Compared tothe V/f characteristic control, improved drive characteristics are achieved with the field-oriented vector control. These in particular include
a higher maximum torque across the entire speed range
a higher speed accuracy
a higher concentricity factor
a higher efficiency
the implementation of an operation with torque-actuating drive
the limitation of the maximum torque in motor and generator mode for speed-actuated operation
Tip!
If a high torque without feedback is to be provided at small speeds, we recommendthe "Vector control" operating mode.
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
86 L Firmware 02.00 - DMS EN 3.0 - 05/2009
As shown in the following graphics, the drive systems with feedback have, independentlyof the operating mode, more advantages than systems without feedback.
V/f characteristic control (VFCplus) without feedback V/f characteristic control (VFCplus) with feedback
9300vec092 9300vec093
Operation in motor mode (CW rotation), Operation in generator mode (CCW rotation), Operation in motor mode (CCW rotation), Operation in generator mode (CW rotation)
Sensorless vector control (SLVC) Servo control (SC)
9300vec095 9300vec094
Operation in motor mode (CW rotation), Operation in generator mode (CCW rotation), Operation in motor mode (CCW rotation), Operation in generator mode (CW rotation)
��
� �
nN
MN
M
-MN
-nN n
��
� �
nN
MN
M
-MN
-nN n
��
� �
nN
MN
M
-MN
-nN n
��
� �
nN
MN
M
-MN
-nN n
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
To ease the selection of the operating mode (C00006), the two following tables containrecommendations and alternatives to standard applications.
[5-1] Standard applications without speed feedback
[5-2] Standard applications with speed feedback
Application Recommended Alternatively
Single drives
With constant load VFCplus: V/f linear SLVC
With extremely alternating loads VFCplus: V/f linear SLVC
With high starting duty SLVC VFCplus: V/f linear
Torque limitation SLVC -
With torque limitation (power control) VFCplus: V/f linear SLVC
Three-phase reluctance motor VFCplus: V/f linear -
Three-phase sliding rotor motor VFCplus: V/f linear -
Three-phase AC motors with permanently assigned frequency/voltage characteristic
VFCplus: V/f linear -
Pump and fan drives with quadratic load characteristic VFCplus (square-law V/f characteristic)
VFCplus or SLVC
Simple hoists VFCplus: V/f linear -
Group drives (several motors connected to controller)
Identical motors and loads VFCplus: V/f linear -
Different motors and/or alternating loads VFCplus: V/f linear -
Application Recommended Alternatively
Single drives
With constant load SC VFCplus / SLVC
With extremely alternating loads SC VFCplus / SLVC
With high starting duty SC VFCplus / SLVC
With speed control (speed feedback) SC VFCplus
With high dynamic performance e.g. for positioning and infeed drives
SC -
Torque limitation SC SLVC
With torque limitation (power control) - -
Winder with dancer position control SC VFCplus
Unwinder with dancer position control SC VFCplus
Three-phase reluctance motor - -
Three-phase sliding rotor motor - -
Three-phase AC motors with permanently assigned frequency/voltage characteristic
- -
Pump and fan drives with quadratic load characteristic - -
Simple hoists VFCplus: V/f linear -
Group drives (several motors connected to controller)
Identical motors and loads VFCplus -
Different motors and/or alternating loads - VFCplus
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
88 L Firmware 02.00 - DMS EN 3.0 - 05/2009
5.1.1 V/f characteristic control (VFCplus)
Stop!
• The following must be observed when operating drives with quadratic V/f characteristic:
– Please always check whether the corresponding drive is suitable for operation with a quadratic V/f characteristic!
– If your pump or fan drive is no suitable for operation with a quadratic V/f characteristic, you either have to use the V/f characteristic control with a linear V/f characteristic, or select the SLVC operating mode (sensorless vector control) and SC (servo control).
• For adjustment, observe the thermal performance of the connected asynchronous motor at low output frequencies.
– Usually, standard asynchronous motors with insulation class B can be operated for a short time with their rated current in the frequency range 0 Hz ≤ f ≤ 25 Hz.
– Contact the motor manufacturer to get the exact setting values for the max. permissible motor current of self-ventilated motors in the lower speed range.
– If you select the quadratic V/f characteristic, we recommend to set a lower Vmin.
• The nameplate data of the motor (at least rated speed and rated frequency) must be entered if, instead of a standard motor, an asynchronous motor is used with the following values:
– rated frequency ≠ 50 Hz (star) or
– rated frequency ≠ 87 Hz (delta) or
– number of pole pairs ≠ 2.
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
The following illustration shows the structure of the control system in a simplifiedmanner; for the complete representation see Signal flow ( 159).
[5-3] Signal flow diagram of the V/f characteristic control (VFCplus)
In case of the V/f characteristic control (VFCplus), the motor voltage of the inverter isdetermined by means of a linear or quadratic characteristic depending on the fieldfrequency or motor speed to be generated. The voltage follows a preselected characteristic.
[5-4] Principle of a linear and quadratic V/f characteristic
Generally, two different characteristic shapes can be defined:
Linear V/f characteristic for drives with a constant and speed-independent load torque
Quadratic characteristic for drives with a load torque increasing quadratically with the speed. Quadratic V/f characteristics are mainly used in centrifugal pumps and fan drives.
f :
C00910/1 /2maxn :
C00909/1 /2max
nStatorCurrentIS_aC00054
nEffSpeedSetValue_aC00050
I :C00022
I :C00023max Mot
max Gen
V :C00073/1pT :C00074/1N
nSpeedSetValue_aC00830/22
Hz
%
nMotorFreqAct_aC00058
fMod
SlipcompC00021
Slip compensationI controllermax
ModulatorCharacteristicselection
Motor slip model
f : C00015
V : C00016base
min
Vset
8400vec085 / 8400vec086
0 1
0
100 %
N
nn
Umin
Uout
0 1
0
100 %
N
nn
Umin
Uout
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90 L Firmware 02.00 - DMS EN 3.0 - 05/2009
5.1.1.1 Parameterising the V/f characteristic control without feedback
Overview of the relevant parameters
How to parameterise the V/f characteristic:
1. Select the operating mode "V/f characteristic control" with corresponding characteristic shape C00006.
2. When using an asynchronous motor which deviates from the standard motor, having a different rated frequency than 50 Hz (star) or 87 Hz (delta) or a different number of pole pairs than 2:
• Enter nameplate data of the motor (at least rated speed and rated frequency)
3. If required, adapt the base frequency of the V/f characteristic C00015
4. If required, rise the V/f characteristic by Vmin C00016
See also: Setting the V/f base frequency ( 91)
Setting Vmin boostn ( 92)
Parameterising V/f characteristic control with feedback ( 94)
Parameter Information
C00006 Selection of the operating mode for V/f characteristic control without feedback with • value "6" for linear characteristic or • value "8" for quadratic characteristic
C00011 Reference speed
C00015 Base frequency
C00016 Vmin boost
C00018 Switching frequency
C00021 Slip compensation
C00022 Current limit (in motor mode)
C00023 Current limit (in generator mode)
C00073/1 Imax current controller gain
C00074/1 Imax current controller reset time
C00080 Override point of field weakening function
C00909/1 /2 Maximum positive / negative speed
C00910/1 /2 Maximum positive / negative output frequency
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Setting the V/f base frequency
The V/f base frequency determines the slope of the V/f characteristic and has considerableinfluence on the current, torque, and power performance of the motor.
– The setting in code C00015 applies to all permitted mains voltages.
– Mains fluctuations or fluctuations of the DC-bus voltage (operation in generator mode) do not need to be considered when the code is set. They are automatically compensated by the internal mains voltage compensation of the device.
– Depending on the setting of C00015, it may be required to adapt the reference speed C00011 to pass the total motor speed range.
– The V/f base frequency is automatically calculated from the stored motor nameplate data by the motor parameter identification:
Typical values for the V/f base frequency C00015:
• Ufrequency inverter:– Frequency inverter 400 V– Frequency inverter 230 V
• Uratedmot: Rated motor voltage depending on the connection method
• frated: Rated motor frequency
Frequency inverter 400 V Frequency inverter 230 V
Motor voltage [V]
Motor frequency [Hz]
Motor connection
C00015 Motor voltage [V]
Motor frequency [Hz]
Motor connection
C00015
230 / 400 50 50 Hz 230 50 50 Hz
220 / 380 50 52,6 Hz 220 / 380 50 52,3 Hz
280 / 480 60 50 Hz
400 / 690400
5050
50 Hz
230 / 400280 / 480400
506087
87 Hz
220 / 380 50 90,9 Hz
Note!
4-pole asynchronous motors which are designed for a rated frequency of f = 50 Hz in star connection can be operated in delta connection when being constantly excited up to f = 87 Hz.
• Advantages:
– Higher speed-setting range
– 73% higher power output in case of standard motors
• Motor current and motor power increase by the factor .
• The field weakening range starts above 87 Hz.
• Generally, this process can also be used with motors which have different numbers of pole pairs. In case of 2-pole asynchronous motors, the mechanical limit speed must be maintained.
C00015 Hz[ ]UFU V[ ]
UNMot V[ ]-------------------------- fNenn Hz[ ]⋅=
3
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Setting Vmin boostn
The Vmin boost C00016 of the motor voltage
serves to select a magnetising current required for asynchronous motors independently of the load.
is effective for output frequencies below the V/f base frequency
optimises the torque behaviour of the motor.
The general linear and quadratic V/f characteristics are shown in the followingillustrations. The illustrations show the impacts of the parameters used to adapt thecharacteristic shape.
[5-5] Representation of the linear V/f characteristic (on the left) and quadratic V/f characteristic (on the right)
How to adjust the Vmin boost:
1. Operate motor in idle state at approx. 6 % of the rated motor speed.
2. Increase Vmin until the following motor current is reached:
• Motor in short-time operation up to 0.5 nrated
with self-ventilated motors: Imotor ≈ Irated motor
with forced-ventilated motors: Imotor ≈ Irated motor
• Motor in continuous operation up to 0.5 nrated
with self-ventilated motors: Imotor ≈ 0.8 Irated motor
with forced-ventilated motors: Imotor ≈ Irated motor
C00015
C00016
C000152
C000162
V [V]out
f [Hz]
V
(100 %)rmot
1/N/PE AC 264 V3/PE AC 264 V3/PE AC 550 V
1/N/PE AC 180 V3/PE AC 100 V3/PE AC 320 V
C00015
C00016
V [V]out
f [Hz]
V
(100 %)rmot
1/N/PE AC 264 V3/PE AC 264 V3/PE AC 550 V
1/N/PE AC 180 V3/PE AC 100 V3/PE AC 320 V
Note!
Vmin is automatically calculated by the motor parameter identification using the data specified on the motor nameplate so that a no-load current of approx. 0.8 Irated motor results at the slip frequency of the machine.
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Subsequent optimisation of the V/f characteristic control (VFCplus)
The V/f characteristic control (VFCplus) is generally ready for operation. It can be adaptedsubsequently by adapting the characteristic and/or the drive behaviour.
Adaptation of the characteristic
– Each of the three characteristic shapes can be adapted to different load profiles or motors via several parameters, see e.g. C00015, base frequency or C00016, Vmin boost.
Adaptation of the drive behaviour
– Limitation of the maximum current by a current controller (e.g. to prevent the motor from stalling or to limit to the maximally permissible motor current)
– Adaptation of the field frequency by a load-dependent slip compensation (improved speed accuracy for systems without feedback)
– Adaptation of the controller parameters of the slip regulator with a V/f characteristic control with feedback
Only the following drive behaviour requires an optimisation of the V/f characteristiccontrol:
Drive behaviour Remedy
Bad smooth running with low speeds, especially in case of operation with long motor cable
Carry out motor identification
Problems in case of high starting duty (great mass inertia)
Adapt Vmin boost C00016 • Set the code so that a 0.8 ... 1-fold rated motor current
flows with controller enabled and 5 ... 10% of the rated speed.
The drive does not follow the speed setpoint. The current controller intervenes in the set field frequency to limit the controller output current to the maximum current (C0022, C0023). Therefore • increase acceleration time / deceleration time
C00012, C00013 • consider a sufficient magnetising time of the motor.
Depending on the motor power, the magnetising time amounts to 0.1 ... 0.2 s
• increase permissible maximum current (in motor mode, in generator mode) C00022 C00023
For operation without speed feedback (C00006 = 6):Insufficient speed constancy at high load (setpoint and motor speed are not proportional any more)
• Increase slip compensation C00021 . Important: unstable drive due to overcompensation!
• With cyclic load impulses (e. g. centrifugal pump), a smooth motor characteristic is achieved by smaller values in C00021 (possibly negative values)
Note: The slip compensation is only active for operation without speed feedback.
Error messages "Clamp operation active" (OC11), controller cannot follow dynamic processes, i.e. acceleration or deceleration times are too short regarding the load conditions
• Increase the gain of the Imax controller C00073/1 • Reduce the integral-action time of the Imax controller
C00074/1 • Increase the acceleration time C00012 • Increase the deceleration time C00013
Motor stalling in the field weakening range (adaptation required especially for small machines)
• Decrease override point of field weakening range C00080
• If motor power < inverter power: Set C00022 to Imax = 2 Irated motor
• Reduce dynamic performance of setpoint generation
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
94 L Firmware 02.00 - DMS EN 3.0 - 05/2009
5.1.1.2 Parameterising V/f characteristic control with feedback
The V/f characteristic control (VFCplus) can be operated with a speed feedback. This hasthe following advantages:
Steady-state accuracy of the speed
A low parameterisation effort compared to the vector control SLVC
An improved dynamic performance compared to the V/f characteristic control without feedback or to the sensorless vector control SLVC.
Suitable for group drives
Overview of the relevant parameters
Note!
• Ensure that the maximum input frequency of 100 kHz is not exceeded during operation of the motor control with feedback. Frequency inputs ( 193)
• Since the slip in the V/f operation with feedback is calculated from the actual speed value and the speed setpoint and injected by the slip regulator, the slip compensation C00021 is deactivated in this operating mode because the slip is measured and compensated during the V/f operation with feedback.
Parameter Information
C00006 Selection of the operating mode for V/f characteristic control with feedback with • value "6" for operating mode: VFCplus, V/f linear characteristic, or • value "8" for operating mode: VFCplus, V/f square-law characteristic
C00011 Reference speed
C00015 Base frequency
C00016 Vmin boost
C00018 Switching frequency
C00022 Current limit (in motor mode)
C00023 Current limit (in generator mode)
C00073/1 Imax current controller gain
C00074/1 Imax current controller reset time
C00080 Override point of field weakening function
C00115/1 Function of digital inputs 1 and 2
C00420/1 Number of encoder increments, digital inputs 1 and 2
C00495 Speed sensor selection
C00496 Encoder evaluation method
C00497/1 Encoder filter time for digital inputs 1 and 2
C00909/1 /2 Maximum positive / negative speed
C00910/1 /2 Maximum positive / negative output frequency
C00971 /1 /2 Controller limitation / slip limitation
C00972 (Slip regulator) gain Vp of the Imax controller
C00973 (Slip regulator) reset time Ti of the Imax controller
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
How to parameterise the V/f characteristic control (VFCplus) with feedback:
1. If required, adapt the base frequency of the V/f characteristic C00015
2. If required, rise the V/f characteristic by Vmin C00016
3. Set dynamic behaviour of the slip regulator designed as PI controller via the slip regulator gain C00972 and the slip regulator reset time C00973.
4. Limit the maximum intervention of the slip regulator, C00971, subcode 1 (slip regulator output limitation).
5. If required, limit the maximum slip, C00971, subcode 2.
See also: Setting the V/f base frequency ( 91)
Setting Vmin boostn ( 92)
Setting and optimisation of the slip regulator ( 98)
Note!
For V/f characteristic control (VFCplus) with speed feedback, we recommend a considerably lower increase of the V/f characteristic by Vmin C00016.
Vmin should be dimensioned so that approximately 50% of the rated motor current flows at slip frequency in idle state.
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
96 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Simplified signal flow diagram
The following illustration shows the structure of the control system in a simplifiedmanner; for the complete representation see Signal flow ( 159).
[5-6] Signal flow of the V/f characteristic control (VFCplus) with feedback
nSpeedCtrlISetC00830/24bSetSpeedCtrlC00833/31
nMotorSpeedAct_aC00051
KP C00972TN C00973
: C00015: C00016
nMotorFreqAct_aC00058
f :C00910/1 /2max
%Hz
C00971/1
n :C00909/1 /2max
%Hz
nMotorSpeedAct [Hz]+ C00971/2
nEffSpeedSetValue_aC00050
V :C00073/1pT :C00074/1N
nSpeedSetValue_aC00830/22
nStatorCurrentIsC00054
nMotorTorqueAct_aC00056/2
nTorqueMotLim_aC00830/28
C00830/29nTorqueGenLim_a
I :C00022
I :C00023max Mot
max Gen
bLimCurrentSetValbLimSpeedCtrlOut
0
1
bLimTorqueSetVal
nCtrlSpeedPAdapt_aC00830/25bSetCtrlSpeedPAdapt
I controllermax
Slip regulator
ModulatorV/f characteristic
setV
fMod
f
Vbase
min
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Commissioning of the V/f characteristic control (VFCplus) with feedback
In order to protect the drive system, the commissioning of the slip regulator and the V/fcharacteristic control operation with feedback has to be carried out in several steps.
1. Set the V/f characteristic (C00015, C00016). For special motors with a rated frequency differing from 50 Hz or a number of pole pairs ≠ 2, the nameplate data have to be entered.
2. Select the operating mode C00006 "V/f characteristic control with feedback" (linear or quadratic characteristic) and deactivate the slip regulator (C00971/1 = 0)
3. Parameterise the speed feedback
4. Select a speed setpoint (e.g. 20% of the rated speed) and enable the controller
5. Check that the actual speed value (C00051) has approximately the same value as the speed setpoint (C00050). In case of a sign reversal between setpoint and actual value, check the connection of the encoder (e.g. changing of tracks A / B of the encoder or inversion of the actual speed value). In case of large deviations between actual speed value and speed setpoint (factor 2), set the controller inhibit and enter the nameplate data of the motor. Then repeat step 5.
6. To protect the drive, set a low manipulating variable limitation for the slip regulator C00971/1 (e.g. half the slip frequency, 2 Hz)
7. Select a speed setpoint (e.g. 20% of the rated speed) and enable the controller
8. In the case of semi-stable operational performance, reduce the reset time C00972 or the proportional gain C00973 until the drive runs stable again.
Setting and optimisation of the slip regulator ( 98)
9. Finally, adapt the manipulating variable limitation of the slip regulator C00971/1 (e.g. increase to double the slip frequency)
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Setting and optimisation of the slip regulator
The slip regulator is designed as PI controller. To improve the response to setpoint changes,the setpoint speed or setpoint frequency is added as feedforward control value to theoutput (manipulating variable) of the slip regulator. Compared to the conventional speedcontroller, the slip regulator only compensates the slip.
In the Lenze setting, the configuration of the slip regulator provides robustness andmoderate dynamics.
The setting range of the slip regulator gain C00972, which leads to a stable operationalperformance, mainly depends on the resolution of the speed sensor. There is always thedirect connection between encoder resolution and gain.The higher the encoder resolution, the higher the gain can be set.
The table contains the maximum and recommended slip regulator gains for encoders withcommon encoder increments:
[5-1] Slip regulator gain with regard to encoder increments
Encoder increment [Increment/revolution]
Slip regulator gain
maximum Recommended
8 0,09 0,06
64 0,52 0,31
100 0,79 0,47
120 0,94 0,57
128 1,00 0,60
256 1,29 0,77
386 1,63 0,98
512 1,97 1,18
640 2,31 1,38
768 2,65 1,59
896 2,99 1,79
1014 3,33 2,00
1536 4,69 2,81
2048 6,05 3,63
3072 8,77 5,26
4096 11,49 6,90
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
How to adapt the slip regulator gain C00972 to the operating conditions:
1. Adapt the code C00972 to the encoder increments according to the table [5-1].
2. Set code C00971, subcode 1, to half the slip frequency (= 2 Hz)
3. Select the speed setpoint
4. Enable controller
5. Increase C00972 until the drive is semi-stable (recognisable by motor noise / "hum" of the motor or noise on the actual speed value signal)
6. Reduce C00972 until the drive runs stable again (no "hum" of the motor)
7. Reduce C00972 to approx. half the value
8. In case of low encoder resolutions, a reduction of C00972 for low speeds (speed setpoint ≈ 0) might be required. We recommend to finally check the behaviour at setpoint speed = 0 (in case of irregular running, C00972 must be further reduced).
9. Adapt code C00971/1 again (e.g. double the slip frequency).
How to set the slip regulator time constant C00973:
1. Set code C00971, subcode 1, to half the slip frequency (≈ 2 Hz)
2. Select the speed setpoint
3. Enable controller
4. Reduce C00973 until the drive is semi-stable (recognisable by motor noise / "vibration" of the motor or oscillations on the actual speed value)
5. Increase C00973 until the drive runs stable again (no "vibration" of the motor)
6. Increase C00973 to approx. double the value
7. Adapt code C00971/1 again (e.g. double the slip frequency).
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
100 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Setting of the slip regulator manipulating variable limitation C00971
The max. intervention of the slip regulator is limited via the slip regulator manipulatingvariable limitation. Depending on the application, the limitation can be made here. Werecommend to limit the maximum intervention to double the rated slip of the motor. Therated slip is calculated as follows:
The setting of C00971, subcode 1 = 0 deactivates the slip regulator. In this case, thestructure of the operating mode corresponds to the structure of the V/f characteristiccontrol without feedback.
Setting of the maximum slip C00971/2
In addition to the limitation of the slip regulator, the field frequency to be injected can belimited by another limiting element.
When the maximum slip is limited, e.g. to twice the rated slip of the motor, you can preventa stalling of the motor during very dynamic processes. Motor stalling can occur due to
a high overcurrent at very steep speed ramps
very fast speed changes caused by the load, e.g. abrupt stopping of the drive since being travelled against a limit stop or a standing load.
fSchlupfNennHz[ ] fNenn Hz[ ]
nMotorNennrpm[ ]
60-------------------------------------------- pPolpaarzahl⋅⎝ ⎠⎛ ⎞–=
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 101
8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
5.1.1.3 Optimising the operational performance via slip compensation
Under load, the speed of an asynchronous machine decreases. This load-dependent speeddrop is called slip.
The slip can be partly compensated by setting C00021 accordingly.
The setting can be made automatically by entering the calculated value into code C00021 during the motor parameter identification.
The setting must be made manually when the motor parameter identification cannot be called up.
This is how the slip compensation and the Vmin boost are entered automatically:
1. Prepare the motor parameter identification by setting the following data taken from the motor nameplate:
• Rated motor power C00081
• Rated motor speed C00087
• Rated motor current C00088
• Rated motor frequency C00089
• Rated motor voltage C00090
• Motor cos ϕ C00091
2. Carry out the motor parameter identificationAutomatic motor parameter identification ( 140)
Note!
The slip compensation C00021 is only active in the V/f characteristic control operating mode without feedback and SLVC (sensorless vector control) (C00006 = 4, 6, 8).
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
102 L Firmware 02.00 - DMS EN 3.0 - 05/2009
How to set the slip compensation manually:
1. Calculate the slip compensation from the data of the motor nameplate:
[5-2] Calculation of the slip compensation from the motor data
2. Transmit the result to code C00021
3. When the drive is running, correct the code C00021 until no load-dependent speed drop occurs anymore in the desired speed range between idle state and maximum load of the motor. The guide value for a correctly set slip compensation is as follows:
• Deviation from the rated motor speed ≤ 1% for the speed range of 10 % ... 100 % of the rated motor speed and loads ≤ rated motor torque.
• Greater deviations are possible in the field weakening range
Tip!
• If C00021 is set too high, the drive may get unstable.
• Negative slip (C00021 < 0) with V/f characteristic control results in "smoother" drive behaviour at heavy load impulses or applications requiring a significant speed drop under load.
s Slip constant C00021 [%]
nrsyn Synchronous motor speed [rpm ]
nr Rated motor speed according to the motor nameplate [rpm ]
fr Rated motor frequency according to the motor nameplate [Hz]
p Number of motor pole pairs (1, 2, 3 ..)
snrsyn nr–
nrsyn------------------------- 100%⋅=
nrsynfr 60⋅
p---------------=
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
5.1.1.4 Optimising the setting of the Imax controller
In the VFCplus operating mode (linear or quadratic V/f characteristic control with orwithout speed feedback), the controller is provided with a current limitation controldefining the dynamic behaviour under load and counteracting an exceedance of amaximum current in motor or generator mode. This current limit value control is referredto as Imax control. The utilisation (motor current) that is measured is compared to thecurrent limit value set under C00022 for a load in motor mode and under C00023 for a loadin generator mode.
If the current limit values are exceeded, the controller changes its dynamic behaviour.
Motor overload during acceleration
The controller prolongs the acceleration ramp to keep the current on or below the currentlimit.
Generator overload during deceleration
The controller prolongs the deceleration ramp to keep the current on or below the currentlimit.
Increasing load with constant speed
If the motor current limit value is reached:
– The controller reduces the effective speed setpoint until a stable working point is set or an effective speed setpoint of 0 rpm is reached.
– If the load is reduced, the controller increases the effective speed setpoint until the setpoint speed is reached or the load reaches the current limit value again.
When the generator current limit value is reached:
– The controller increases the effective speed setpoint until a stable working point is set or the maximally permissible speed or output frequency is reached C00909 / C000910
– If the load is reduced, the controller decreases the effective speed setpoint until the setpoint speed is reached or the load reaches the current limit value again.
If a sudden load is built up at the motor shaft (e.g. drive is blocked), the overcurrent disconnection may respond (fault message OC1 or OC11, see Error messages of the operating system ( 298)).
The current limitation controller is factory-set so that the drive is stable. In the majority ofapplications, an optimisation is not required. The setting of the current limitationcontroller must be adapted if
A power control runs with high moments of inertia.Recommendation: Increase of the reset time of the Imax controller C00073/1
Vibrations in the VFCplus operating mode with encoder during the operation of the current limitation controller.Recommendation: Increase of the reset time of the Imax controller C00073/1
Overcurrent errors (e.g. OC3) occur due to load impulses or too high acceleration ramps.Recommendation: Reduction of the ramp time and reset time in C00073/1
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
104 L Firmware 02.00 - DMS EN 3.0 - 05/2009
5.1.1.5 Torque limitation for VFC (V/f characteristic control)
[5-7] Section of the signal flow chart V/f characteristic control with feedback ( 160)
The section Optimising the setting of the Imax controller ( 103) describes how the drive canbe protected against overload. The corresponding settings are selected duringcommissioning and then remain unchanged.
The interaction with the plant or process requirements often require a torque limitation toa lower value. To avoid an overload in the drive train, the torque can be limited withnTorqueMotLim in motor mode and with nTorqueGenLim in generator mode.
For this, the actual torque (C00056/2) is directly calculated from the current slip speed ofthe machine. This requires the correct entry of the motor data.
VFC (V/f characteristic control) without feedback
The accuracy of the torque limitation is limited because the actual torque (C00056/2) isonly calculated from the slip speed measured indirectly via the motor current.
0
1
QSP
bNMaxFault
V :C00073/1pT :C00074/1N
%Hz
nSpeedSetValue_aC00830/22
nStatorCurrentIsC00054
nMotorTorqueAct_aC00056/2
nTorqueMotLim_aC00830/28
C00830/29nTorqueGenLim_a
C00105
bLimCurrentSetValbLimSpeedCtrlOut
0
1
bLimTorqueSetVal
n :C00909max
QSP Ramp
I :C00022
I :C00023max Mot
max Gen
Evaluationtorque limitation /current limitation
I controller /
torque limitationmax
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 105
8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
VFC (V/f characteristic control) with feedback
The slip speed of the motor is available at the slip controller output. This leads to a highaccuracy for the actual torque (C00056/2) and the torque limitation.
Note!
• To avoid instabilities during operation with active slip compensation, the torque limit values are internally processed as absolute values. The following values can be selected for
– nTorqueMotLim in a range between 0 and + 199.99 %
– nTorqueGenLim in a range between - 199.99 and 0 %(100 % corresponds to the maximum torque C00057)
• When the slip compensation is deactivated (C00021 = 0), indirect torque limitation will be used (differential signal between apparent motor current and nTorqueMotLim or nTorqueGenLim). Above the no-load current of the motor, the accuracy of the indirect torque limitation is limited.
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
106 L Firmware 02.00 - DMS EN 3.0 - 05/2009
5.1.2 Sensorless vector control (SLVC) and servo control (SC)
Tip!
Observe the representation of the signal flows to the vector controls
• SLVC: Signal flow ( 159)
• SC: Signal flow - servo control for asynchronous motor ( 162)
5.1.2.1 Sensorless vector control (SLVC)
The operating mode is based on the improved motor current control according to the FTCprocedure by Lenze.
In comparison to the V/f characteristic control without feedback, the following can beachieved by means of sensorless vector control SLVC:
a higher maximum torque across the entire speed range
a higher speed accuracy
a higher concentricity factor
a higher efficiency
the implementation of torque-actuated operation with speed limitation.
the limitation of the maximum torque in motor and generator mode for speed-actuated operation
Stop!
• With SLVC, the connected motor may be maximally two power classes lower than the motor assigned to the controller.
• With SC, we recommend to select a power-adapted combination of inverter and motor.
• Operation with vector control is only permissible for a single drive.
• Operation of the sensorless vector control (SLVC) is not permissible for hoists.
• The Lenze setting enables the operation of a power-adapted motor for both the SLVC and SC operating modes. An optimal operation can only be ensured if you follow on of the following three entries:
– enter the selected motor via the Lenze motor catalogue or
– enter the motor nameplate data and carry out the motor parameter identification or
– enter the nameplate data and equivalent circuit data of the motor (motor leakage inductance and motor magnetising inductance, slip compensation and stator resistance of the motor) manually.
• When you enter the motor nameplate data, take into account the phase connection implemented for the motor (star or delta connection). Only enter the data applying to the selected connection type.
• With SC, it is additionally required to parameterise the speed feedback.
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
The sensorless field-oriented vector control can be operated in two different modes:
Speed control with torque limitation (bTorqueModeOn = 0)
Torque control with speed limitation (bTorqueModeOn = 1)
An optimal operation of the SLVC can be achieved from a minimum speed of approx. 0.5-fold slip speed. At lower speed values below the 0.5-fold slip speed, the maximum torqueis reduced.
The maximum field frequency with the SLVC operating mode is 650 Hz.
Speed control with torque limitation
A speed setpoint is selected and the drive system is operated in a speed-controlled manner.
The operational performance can be adapted in the following ways:
Overload limitation in the drive train: The torque is limited by the torque setpoint. The torque setpoint is identical with the value at the speed controller output nOutputSpeedCtrl. This is why the nTorqueMotLim C00728/1 can be used to limit the torque in motor mode and nTorqueGenLim C00728/2 can be used to limit the torque in generator mode to avoid an overload in the drive train.
Motor current limitation:A cross current setpoint is generated from the torque setpoint (see above) which is limited depending on the magnetising current, the max. current in motor mode C00022 and the max. current in generator mode C00023. The total current injected in the motor will not exceed the currents generated in motor and generator mode.
Slip compensation:The slip of the machine is reconstructed by means of the slip model. The influencing parameter is the slip compensation C00021.
Torque control with speed limitation
For torque-controlled operation, a torque setpoint nTorqueAdd is defined for the drivesystem. Contrary to the speed control with torque limitation (see above), speed controllerand torque limitation are deactivated for this application. The torque setpoint is directlydetermined from nTorqueAdd. The speed is defined by the process. Due to the "limitation",the torque-controlled drive can only run within a certain speed range, the positive speed ofwhich is limited by nSpeedHighLimit and the negative speed of which is limited bynSpeedLowLimit.
Note!
To avoid problems caused by sign changes and an unstable operation, the torque limit values nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2 are internally processed as absolute values. The max. torque in motor mode can therefore effectively only be defined in a range from 0 … +199.99% and the max. torque in generator mode only in a range from 0 ... -199.99..0%.
(100 % corresponds to the maximum torque C00057)
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
108 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Tip!
We recommend to use the flying restart function for connecting/synchronising theinverter to an already rotating drive system.
Overview of the relevant parameters
Parameter Information
C00006 Selection of the operating mode for V/f characteristic control without feedback with • value "6" for linear characteristic or • value "8" for quadratic characteristic
C00011 Reference speed
C00018 Switching frequency
C00021 Slip compensation
C00022 Current limit (in motor mode)
C00023 Current limit (in generator mode)
C00057 Maximum torque
C00070/1 SLVC: Vp speed controller
C00071/1 SLVC: Ti speed controller
C00073/2 SLVC: Vp torque controller
C00074/2 SLVC: Ti torque controller
C00080 Override point of field weakening function
C00081 Rated motor power
C00082 Motor rotor resistance
C00083 Motor rotor time constant
C00084 Motor stator resistance
C00085 Motor stator leakage inductance
C00087 Rated motor speed
C00088 Rated motor current
C00089 Rated motor frequency
C00090 Rated motor voltage
C00091 Motor cosine phi
C00092 Motor magnetising inductance
C00095 Motor magnetising current
C00097 Rated motor torque
C00273 Total moment of inertia
C00275 Setpoint precontrol filtering
C00909/1 /2 Maximum positive / negative speed
C00910/1 /2 Maximum positive / negative output frequency
C00915 Motor cable length
C00916 Motor cable cross-section
C00917 Motor cable resistance
C00985 Feedforward control in the d-branch
C00986 Feedforward control in the q-branch
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
How to set the sensorless vector control:
1. Set code C00006 to the value "4" for selecting the "sensorless vector control (SLVC)" mode.
2. For the selection of the control mode, set the corresponding bit as follows:
• bTorqueModeOn = 0, for speed control with torque limitation
• bTorqueModeOn = 1, for torque control with speed limitation
3. For the motor selection and parameterisation, the equivalent circuit data and the nameplate data are required. Depending on the manufacturer of the motor used, proceed as follows:
• Lenze motorSelect motor from the Engineer catalogue [A] or carry outmotor parameter identification [B] or [C]
• Third-party motorEnter motor nameplate data [B] and carry out motor parameter identification [C], or directly enter known equivalent circuit data C00084, C00085 , C00092 , C00095 and nameplate data [B] and [D]
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
110 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Selection and parameterisation of the motor
A. Select the motor from the Engineer motor catalog Motor catalogue ( 139). The data is transferred to the drive automatically
• If the Lenze motor is not listed there, continue with step [B].
B. Prepare the motor parameter identification by setting the following data taken from the motor nameplate and specifying the motor cable:
• Rated motor power C00081
• Rated motor speed C00087
• Rated motor current C00088
• Rated motor frequency C00089
• Rated motor voltage C00090
• Motor cos ϕ C00091
• Motor cable length C00915
• Motor cable cross-section C00916
C. Carry out the motor parameter identification
The following parameters are identified and automatically transmitted to the corresponding codes:
• Motor leakage inductance
• Motor magnetising inductance
• Motor stator resistance
• Motor rotor resistance
• Motor rotor time constant
• Magnetising current
• Motor cable resistance
D. Enter the nameplate data and the equivalent circuit data of the external motor:
• Rated motor power C00081
• Rated motor speed C00087
• Rated motor current C00088
• Rated motor frequency C00089
• Rated motor voltage C00090
• Motor cos ϕ C00091
• Motor cable length C00915
• Motor cable cross-section C00916
• Motor rotor resistance C00082
• Motor stator resistance C00084
• Magnetising inductance C00092
• Leakage inductance C00085
• Magnetising current C00095
• Slip compensation C00021
The field-oriented sensorless vector control is now ready for operation.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 111
8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Optimising the sensorless vector control in the case of undesired drive behaviour
Drive behaviour Remedy
Deviation between no-load current and magnetising current or bad speed or torque accuracy.
The magnetising inductance C00092 must be adapted when the machine coasting. If the no-load current at 0.5-fold rated motor speed is higher than the magnetising current C00095, reduce the magnetising inductance until the no-load current and the magnetising current are equal. If not, increase the magnetising inductance.
Tendency of the correction of C00092PN: Rated motor power
Insufficient speed constancy at high load (setpoint and motor speed are not proportional any more)
CAUTION:An overcompensation of the settings mentioned under " Remedy" can result in unstable behaviour!
Via C00021 (slip compensation) you can affect the speed stability under high loads: • If nact > nslip, reduce the value in C00021 • If nact < nslip, increase the value in C00021
Unstable control with higher speeds • Check value in C00092 by comparing the current consumption in no-load operation with the rated magnetising current C00095
• Optimise oscillation damping C00234
Error messages "Short circuit" (OC1) or "Clamp operation active" (OC11) at short acceleration times C00012 in proportion to the load (controller cannot follow the dynamic processes).
• Increase the gain of the torque controller C00073/2 • Reduce the integral-action time of the torque
controller C00074/2 • Increase the acceleration time / deceleration time
C00012 / C00013
Mechanical resonances with certain speeds 1 The function block N_Nset_1 serves to suppress speed ranges in which resonances occur.
Speed variations in no-load operation for speeds > 1/3 rated speed
The oscillation damping minimises speed variations C00234
• Drive runs unstable • Setpoint speed and actual speed deviate strongly
Check the equivalent circuit data of the motor and the nameplate data.
• The torque required is not generated at standstill. • Current overshoots (OC1 or OC11 error) occur when
heavy loads are accelerated from standstill. • The machine runs uneven
Increase the magnetising current of the motor C00095
0,37 22 90
C0092
-15 %
+15 %
0
P [kW]N
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
112 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Optimising the starting behaviour after controller enable
When the controller is enabled, the magnetising of the motor leads to a start delay.
Under consideration of the motor rotor time constants under code C00083, the delay iscalculated as follows:
If this delay cannot be tolerated for specific applications, the motor must always beoperated in an energised condition. For this, select one of the following options:
1. How to proceed without setting controller inhibit:
– Deactivate the Auto-DCB function with C00019 = 0
– Do not activate controller inhibit but use setpoint = 0 or the QSP function to decelerate the drive to standstill.
2. How to proceed if the application requires controller inhibit to be set:
– Deactivate the Auto-DCB function with C00019 = 0
– Select a higher motor rotor resistance (max. factor 2!) under C00082 to reduce the magnetisation time.When starting, the short-term motor current rise may lead to a jerk in the machine!
Magnetisation time 1.5 motor rotor time constant⋅=
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 113
8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Optimising the dynamic performance and the field weakening behaviour for sensorless vector control
In the Lenze setting, the torque controller is preset in such a way that a robust and stableoperation with moderate dynamic performance is possible within the entire speed range.Optimising the controller parameters subsequently is not necessary.
A greater dynamic performance of the sensorless field-oriented vector control can beachieved by reducing the time constant of the torque controller with C00074/2.
To achieve a better dynamic performance of the field weakening function, set the timeconstant to C00074/2 ≤ 15 ms. With this setting, the torque/speed characteristic in thefield weakening range is improved for actual speeds above the rated speed:
[5-8] Speed / torque characteristic diagram in the field weakening range
Tip!
For applications requiring a high dynamic performance and a high speed andtorque accuracy in the field weakening range, we recommend to set the timeconstant of the torque controller to T ≤ 15 ms in C00074/2.
In this case, we recommend to limit the maximum torque to 1.5 x Mrated vianTorqueMotLim C00728/1 and nTorqueGenLim C00728/2 to ensure stableoperation in the field weakening range.
• For torque controller time constants T >15 ms (see ), the actual speed value slightly drops in the field weakening range if the load torque increases in the motor mode.
• For torque controller time constants T ≤ 15 ms (see ), the speed remains stable in the field weakening range if the torque is within the M/n characteristic field highlighted in grey.
��
nNnN
MNMN
MM
nn
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
114 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Optimising the speed controller setting
The speed controller is a PI controller. In the Lenze setting, the speed controller isconfigured in such a way that it has a good robustness and a moderate dynamicperformance.
The selection values for the gain VPN of the speed controller C00070/1 are scaled whichmakes the parameter setting almost independent of the power of the motor / inverter andcomparable:
If the rated data of the motor and the mass inertia of the drive system are known, werecommend the following setting:
Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• for drive systems without feedback: VPN = 6 … 25
• For drive system with good disturbance behaviour: VPN > 15In this case you should optimise the dynamic performance of the torque controller.
In addition to the controller's P component, code C00071/1 can be used to set the integral action component of the PI controller. Value range recommended by Lenze for the setting of the speed controller's time constant:
τ = 20 ms … 150 ms.
• VPN C00070/1:Gain of the speed controller
• TM: Time constant for motor acceleration
• MN: Rated motor torque
• nN: Rated motor speed
• Jdrive, total: Total moment of inertia of the drive
VPN
MN
nN-------- %[ ]=
VPN 1,5...3TM s[ ]
0 01 s[ ],--------------------⋅≈
TM s[ ]2 π nN min
1–[ ]⋅ ⋅MN Nm[ ] 60⋅-------------------------------------------- J Antrieb gesamt( , ) kgm
2[ ]⋅=
MN Nm[ ]PN W[ ] 60⋅
2 π nN min1–[ ]⋅ ⋅
--------------------------------------------=
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 115
8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Optimising the reference behaviour and detecting the mass inertia
Setting the total moment of inertia under C00273 provides the optimum torquefeedforward control. Depending on the application, an adjustment of the setting underC00273 may be necessary to optimise the response to position/speed setpoint changes bymeans of the torque feedforward control.
[5-9] Typical signal characteristics for different settings of the load moment of inertia
Without feedforward control: C00273 set too low:
C00273 set too high: Optimum feedforward control:
Actual speed value (signal nMotorSpeedAct) Speed setpoint (signal nMotorSpeedSet) Speed controller output (signal nOutputSpeedCtrl)
n, M
t
�
�
�
t
n, M �
�
�
t
n, M�
��
t
n, M
�
�
�
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
116 L Firmware 02.00 - DMS EN 3.0 - 05/2009
How to optimise the torque feedforward control:
1. Run a typical speed profile and record the inputs and outputs of the speed controller with the data logger (in preparation).
• Motor control variables to be recorded:nMotorSpeedSet (speed setpoint)nMotorSpeedAct (actual speed value)nOutputSpeedCtrl (speed controller output)
To optimise the reference behaviour, the speed controller output (nOutputSpeedCtrl), the speed setpoint and actual speed value must be observed.
2. Estimate the moment of inertia and set it under C00273 with regard to the motor end (i.e. considering the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by the feedforward control and the speed controller output signal (nOutputSpeedCtrl) is correspondingly smaller. The resulting following error decreases.
4. Change the setting under C00273 and repeat the data logger recording until the intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved (see signal characteristics in Fig. [5-10]).
5. Save parameter set (C00002 = "11: Save start parameters").
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
5.1.2.2 Servo control (SC)
The field-oriented servo control (SC) is based on a decoupled, separate control of thetorque-generating and the field generating current component. The operating mode isbased on a controller structure with feedback, field-orientation, and cascade arrangementand provides for a dynamic and stable operation in all four quadrants. Basically, the servocontrol offers the same advantages as the sensorless vector control (SLVC):
a higher maximum torque across the entire speed range
a higher speed accuracy
a higher concentricity factor
a higher efficiency
the implementation of torque-actuated operation with speed limitation.
the limitation of the maximum torque in motor and generator mode for speed-actuated operation
The servo control can be operated in two different modes:
Speed control with torque limitation ( 107), (bTorqueModeOn = 0
Torque control with speed limitation ( 107), (bTorqueModeOn = 1)
A position-controlled application requires a speed control with torque limitation(bTorqueModeOn = 0).
Overview of the relevant parameters
Parameter Information
C00006 Selection of the operating mode
C00011 Reference speed
C00018 Switching frequency
C00021 Slip compensation
C00022 Current limit (in motor mode)
C00023 Current limit (in generator mode)
C00057 Maximum torque
C00070/2 SC: Vp speed controller
C00071/2 SC: Ti speed controller
C00072 SC: Tdn speed controller
C00075 Vp current controller
C00076 Ti current controller
C00077 SC: Vp field controller
C00078 SC: Ti field controller
C00079/1 SC: Current controller feedforward control (in preparation)
C00079/2 SC: Adaptive field weakening controller
C00079/3 SC: n-Ctrl-AntiWindUp
C00081 Rated motor power
C00082 Motor rotor resistance
C00083 Motor rotor time constant
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode
118 L Firmware 02.00 - DMS EN 3.0 - 05/2009
How to set the servo control (SC):
1. Set code C00006 to the value "2" for selecting the "vector control (SC)" mode.
2. Parameterise the speed feedback by
• parameterising the function of the digital inputs 1 and 2 as encoder input C00115
• entering the encoder increments C00420/1
• selecting the speed sensor C00495
• adapting the filter time of the actual speed value C00497
• changing over the encoder evaluation process with low-resolution encoders (number of increments < 120 increments) C00496
3. For the selection of the control mode, set the corresponding bit as follows:
• bTorqueModeOn = 0, for speed control with torque limitation
• bTorqueModeOn = 1, for torque control with speed limitation
C00084 Motor stator resistance
C00085 Motor stator leakage inductance
C00087 Rated motor speed
C00088 Rated motor current
C00089 Rated motor frequency
C00090 Rated motor voltage
C00091 Motor cosine phi
C00092 Motor magnetising inductance
C00095 Motor magnetising current
C00097 Rated motor torque
C00270 SC: Frequency of the current setpoint filter
C00271 SC: Width of the current setpoint filter
C00272 SC: Depth of the current setpoint filter
C00273 SC: Moment of inertia
C00274 SC: Maximum acceleration change
C00275 Setpoint precontrol filtering
C00280 SC: Filter time constant - DC detection
C00576 SC: Field feedforward control
C00577 SC: Vp Field weakening controller
C00578 SC: Ti Field weakening controller
C00909/1 /2 Maximum positive / negative speed
C00910/1 /2 Maximum positive / negative output frequency
C00915 Motor cable length
C00916 Motor cable cross-section
C00917 Motor cable resistance
C00985 Feedforward control in the d-branch
C00986 Feedforward control in the q-branch
Parameter Information
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Selection of the operating mode
For the motor selection and parameterisation, the equivalent circuit data, the slipcompensation, and the nameplate data are required.
The servo control is now ready for operation.
The Lenze settings of the controllers are predefined for a power-adapted motor. For anoptimal drive behaviour, we recommend to adapt the controller settings.
See also Selection and parameterisation of the motor ( 110)
Motor selection ( 136)
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Optimise control mode
The "optimisation steps" given in the following table serve to further optimise the controlbehaviour of the servo control and adjust it to the concrete application.
Detailed information on the individual steps can be found in the following subchapters.
Generally, the following optimisation steps are recommended:
In special cases, the following functions can be used for further optimisation:
Tip!
To run a typical speed profile for optimising the motor control, you can also use thebasic function "manual jog" with suitably adapted jog parameters if this basicfunction is supported by the technology application selected, see chapter "Manualjog" .
Optimisation steps
1. Optimise current controller . ( 121) • The current controller should always be optimised if a motor of a third-party manufacturer with
unknown motor data is used!
2. Optimise speed controller . ( 122) • The setting of the speed controller must be adapted depending on the mechanical path. • For an optimal reference behaviour, the total moment of inertia can be used to make a feedforward
control of the speed setpoint.
Optimisation steps
1. Set current setpoint filter ( 128). If higher-frequency speed or torque oscillations occur, which cannot be dampened by the speed controller, a band-stop filter can be activated.In order to suppress or damp (mechanical) resonant frequencies, a current setpoint filter is integrated in the speed control loop of the controller which is switched off in the default setting but can be parameterised accordingly, if required.Then readjust the speed controller: Optimise speed controller. ( 122)
2. Jerk limitation ( 130)
3. Optimising the behaviour in the field weakening range ( 131)
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8400 HighLine C | Software ManualMotor control (MCTRL)
Selection of the operating mode
Optimise current controller
An optimisation of the current controller is sensible since the two control parameters gain(C00075) and reset time (C00076) depend on the required maximum current and the setswitching frequency.
The gain and reset time can be calculated with the following formula:
Note!
An optimisation of the current controller should generally be carried out unless a power-adapted standard motor is used or the motor has been selected from the motor catalog of the Engineer!
• Vp = current controller gain [V/A], C00075 • Tn = reset time [s], C00076 • Lss = motor stator leakage inductance [H], C00085 • Rs = motor stator resistance [Ω], C00084 • TE = equivalent time constant (= 500 μs)
VP C00075,LSS H[ ]TE s[ ]-----------------=
Tn C00076,LSS H[ ]RS Ω[ ]-----------------=
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Optimise speed controller
The speed controller is designed as PID controller with an additional differential speedsetpoint gain. An optimal behaviour can be achieved by optimising the PID speed controlleror detecting the total mass inertia of the drive train.
In the Lenze setting, the configuration of the speed controller provides robustness andmoderate dynamics.
The selection values for the gain VPN of the speed controller C00070/2 are scaled whichmakes the parameter setting almost independent of the power of the motor / inverter andcomparable:
If the rated data of the motor and the mass inertia of the drive system are known, werecommend the following setting:
Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• for drive systems without feedback: VPN = 6 … 20
• for drive systems with a good disturbance behaviour: VPN > 12
In addition to the controller's P component, code C00071/2 can be used to set the integral action component of the PI controller. Value range recommended by Lenze for the setting of the speed controller's time constant:
τ = 20 ms … 150 ms.
• VPN C00070/2:Gain of the speed controller
• TM: Time constant for motor acceleration
• MN: Rated motor torque
• nN: Rated motor speed
• Jdrive, total: Total moment of inertia of the drive
VPN
MN
nN-------- %[ ]=
VPN 1,5...3TM s[ ]
0 01 s[ ],--------------------⋅≈
TM s[ ]2 π nN min
1–[ ]⋅ ⋅MN Nm[ ] 60⋅-------------------------------------------- J Antrieb gesamt( , ) kgm
2[ ]⋅=
MN Nm[ ]PN W[ ] 60⋅
2 π nN min1–[ ]⋅ ⋅
--------------------------------------------=
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Selection of the operating mode
If the mass inertia of the drive is unknown, the optimisation can be achieved as follows:
Gain setting
The proportional gain Vp is selected under C00070/2:
1. Select the speed setpoint.
2. Increase C00070/2 until the drive becomes unstable (observe motor noises).
3. Reduce C00070/2, until the drive becomes stable again.
4. Reduce C00070/2 to approx. half the value.
Reset time setting
The reset time Tn is selected under C00071/2:
1. Reduce C00071/2 until the drive becomes unstable (observe motor noises).
2. Increase C00071/2 until the drive runs stable again.
3. Increase C00071/2 to approx. double the value.
Rate time setting
The rate time Td is selected under C00072:
Increase C00072 during operation until an optimum control behaviour is reached.
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Optimise reference behaviour and detect mass inertia
Setting the total moment of inertia under C00273 provides the optimum torquefeedforward control. Depending on the application, an adjustment of the setting underC00273 may be necessary to optimise the response to position/speed setpoint changes bymeans of the torque feedforward control.
[5-10] Typical signal characteristics for different settings of the load moment of inertia
Without feedforward control: C00273 set too low:
C00273 set too high: Optimum feedforward control:
Actual speed value (signal nMotorSpeedAct) Speed setpoint (signal nMotorSpeedSet) Speed controller output (signal nOutputSpeedCtrl)
n, M
t
�
�
�
t
n, M �
�
�
t
n, M�
��
t
n, M
�
�
�
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Selection of the operating mode
How to optimise the torque feedforward control:
1. Run a typical speed profile and record the inputs and outputs of the speed controller with the data logger (in preparation).
• Motor control variables to be recorded:nMotorSpeedSet (speed setpoint)nMotorSpeedAct (actual speed value)nOutputSpeedCtrl (speed controller output)
To optimise the reference behaviour, the speed controller output (nOutputSpeedCtrl), the speed setpoint and actual speed value must be observed.
2. Estimate the moment of inertia and set it under C00273 with regard to the motor end (i.e. considering the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by the feedforward control and the speed controller output signal (nOutputSpeedCtrl) is correspondingly smaller. The resulting following error decreases.
4. Change the setting under C00273 and repeat the data logger recording until the intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved (see signal characteristics in Fig. [5-10]).
5. Save parameter set (C00002 = "11: Save start parameters").
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Using the ramp response for setting the speed controller
When operation of the mechanics at the stability limit is not possible, the ramp responsecan be used to set the speed controller. The proceeding is similar to optimising the massmoment of inertia. For an optimal setting, we recommend to detect the mass inertia(optimal reference behaviour).
Stop!
If the controller parameters are preset unfavourably, the control can tend to heavy overshoots up to instability!
• Following and speed errors can adopt very high values.
• If the mechanical components is very sensitive, the corresponding monitoring functions must be activated.
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Selection of the operating mode
How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the integrated oscilloscope (in preparation).
• Variables of the motor control to be recorded:speed setpointactual speed value
2. Evaluate the ramp response:
• Solid line = ramp response (actual speed value)
• Dash line = speed setpoint
3. Change the gain Vp under C00070 and the reset time Tn under C00071.
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
n
t
n
t
n
t
n
t
n
t
n
t
n
t
n
t
n
t
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
Tn
<T
no
pt.
Tn
=T
no
pt.
Tn
>T
no
pt.
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Set current setpoint filter
Due to the high dynamic performance or limit frequency of the closed current control loop,mechanical natural frequencies can be activated which may lead to an unstable speedcontrol loop.
In order to suppress or damp these resonant frequencies, a current setpoint filter isintegrated in the speed control loop of the controller which is switched off in the defaultsetting but can be parameterised accordingly, if required.
[5-11] Optional current setpoint filters (filter cascade) in the speed control loop
Overview of parameters for current setpoint filter
Setting of the current setpoint filter
Since the frequency response of the speed controlled system is only rarely known to suchan extent that the current setpoint filters can be adjusted to the controlled system in therun-up, the following example describes how to set the current setpoint filters.
f:C270f:C271
dB:C272�
Currentsetpoint filter
Parameter Information Lenze setting
Value Unit
C00270 Freq. - current setpoint filter 1 200.0 Hz
C00271 Width current setp. filter 1 20.0 Hz
C00272 Depth current setp. filter 1 0 DB
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Selection of the operating mode
How to set the current setpoint filters:
1. Optimise current controller ( 121).
2. Optimise speed controller ( 122)
3. Measure the oscillation frequency (observe current or speed).
4. Set the measured oscillation frequency in C00270 as filter frequency.
5. Set "25%" of the filter frequency in C00271 as filter width.
• Example: Filter frequency = 200 Hz filter width = 50 Hz.
6. Set "40 dB" in C00272 as filter depth.
• If the filter depth is set to "0 dB" (default setting), the filter is not active.
Note!
Readjust the speed controller after setting the current setpoint filter. Optimise speed controller. ( 122)
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Jerk limitation
The jerk limitation serves to limit the change of the setpoint torque. Thus, sudden torquevariations can be prevented and the speed characteristic becomes smoother.
The setting of the jerk limitation defines which maximum torque change (with regard tothe rated motor torque) is permissible per ms. A setting of 400 % / ms deactivates the jerklimitation.
Note!
Only activate this jerk limitation for speed-controlled applications!
If table positioning or a free FB interconnection with the positioning operating mode is selected, the jerk limitation has to be deactivated. The travel profile generator is provided with a jerk limiting function, the activation of the motor control jerk limitation would cause following errors.
Input: InputJerkCtrlOutput: Current setpoint filter
Parameter Information Lenze setting
Value Unit
C00274 Jerk limitation 400.0 %/ms
C274
On:C274<C274Mot
Jerklimitation
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Selection of the operating mode
Optimising the behaviour in the field weakening range
The behaviour in the field weakening range is influenced by
the field controller
the field weakening controller
the field feedforward control
the adaptation of the P component of the field controller and speed controller
an additional limitation of the integral part of the speed controller when the voltage limit is reached.
a feedforward control of the current controller (decoupling network) (in preparation)
Usually the settings are pre-optimised so that a further optimisation is not required. Whenspecial motors (e.g. mid-frequency motors) or non-power-adapted motors are used, anoptimisation can be carried out according to the following algorithms.
Field controller:
The field controller is designed as a PI controller.
The gain VPN of the field controller C00077 can be calculated with the motor rotor timeconstant C00083 and the equivalent time constant of the current-controlled motor:
If the rated data of the motor and the mass inertia of the drive system are known, werecommend the following setting:
Tip!
The motor rotor time constant depends on the motor rotor resistance, themagnetising inductance, and the leakage field inductance. For an optimalcalculation we recommend to select a Lenze motor from the motor table. Ifexternal motors are used, a parameter identification must be carried out.
• VPField C00077:Gain of the field controller
• TNField C00078: Time constant of the field controller
• TR C00083: Motor rotor time constant
Parameter Information Lenze setting
Value Unit
C00077 SC: Vp field controller - -
C00078 SC: TN field controller - ms
VPN
MN
nN-------- %[ ]=
VPFeldTR s[ ]
4 TErsatz ms[ ]⋅--------------------------------------
TR s[ ]0 01 s[ ],--------------------=≈
TNFeld ms[ ] TR ms[ ]=
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Field weakening controller:
The field weakening controller serves to adapt the magnetising current when themaximum control voltage has been reached so that in steady operation approximately95 % of the maximally possible control voltage is output. Thus there is a voltage reserve fordynamic load or speed variations.
Tip!
If the field weakening controller is parameterised unfavourably, vibrations occur inthe magnetising current, in the direct-axis current and in the cross current, in thetorque and in the speed in the field weakening range. This is also audible by anincreased motor noise (humming). The vibrations can be dampened by a decreaseof the proportional gain of the field weakening controller.
Procedure:
• Operate the drive with max. required speed in the field weakening operation
• Reduce the P component of the field weakening controller until the vibration response cannot be detected anymore.
, • VP,FS :
Controlled system gain • VPN C00077:
Gain of the field controller • TNField C00078:
Time constant of the field controller • TR C00083:
Motor rotor time constant • Lh C00092:
Mutual motor inductance • Lss = Motor stator leakage inductance [H],
C00085 • L ss C00085:
Motor stator leakage inductance • p = number of pole pairs
Parameter Information Lenze setting
Value Unit
C00577 SC: Vp Field weakening controller - -
C00578 SC: Tn field weakening controller - ms
VP FS,2
VStrecke FS,----------------------------≈ TNFS 10 ... 30 ms≈
VStrecke FS,1 σ–
σ------------
p 2 π nN⋅ ⋅ ⋅60
------------------------------ σ Lh Lss+( )2⋅ ⋅ ⋅=
σ 1Lh( )2
Lh Lss+( )2--------------------------–=
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Selection of the operating mode
Field feedforward control:
To have enough voltage reserve available for dynamic acceleration processes, a timelyweakening of the field is required. The field weakening is controlled by the fieldfeedforward control.
The field feedforward control reciprocally reduces the magnetising current from the basefrequency C00015 on. The starting point of the reduction can be shifted to low frequenciesvia C00576. Thus, more voltage reserve is available for acceleration processes.
The field feedforward control C00576 is given in percent, 100 % corresponds to the ratedslip of the machine.
Tip!
Usually, the Lenze setting is sufficient for most of the applications. For applicationswith very dynamic acceleration processes in the field weakening range werecommend to increase the field feedforward control. In case of very slowapplications, you can reduce the field feedforward control.
Adaptation of the P component of the field controller and speed controller
In the field weakening range, the properties of the drive change due to the reduction of themagnetisation and the voltage limitation of the inverter. To be able to continue to providea stable, well dampened drive behaviour, the 8400 servo control has an automaticadaptation of the P component of the field weakening controller and speed controller.
In the Lenze setting, this function is activated. Depending on the application, this functioncan be deactivated via C00079/2.
Tip!
Lenze recommends to always activate the adaptation of the field weakening andspeed controller.
Parameter Information Lenze setting
Value Unit
C00576 Field feedforward control 200.0 %
Parameter Information Lenze setting
Value Unit
C00079/2 SC: Adaptive field weakening controller 0 -
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Additional limitation of the integral part of the speed controller when the voltage limit isreached.
In dynamic acceleration processes in the field weakening range, the acceleration torque islimited due to the limitation of the maximum output voltage of the inverter. Accelerationramps that are set too high C00012, may lead to undesired charging of the integrator ofthe speed controller, which result in very strong overshoots of the actual speed value whenthe setpoint is reached.
The function C00079/3 serves to intelligently limit the integrator part in dynamicacceleration processes in the field weakening range so that an overshoot of the actualspeed value can be prevented when the setpoint speed is reached.
[5-12] Typical signal characteristics for different settings of the load moment of inertia
Tip!
Lenze recommends to activate the additional limitation of the speed controller's I-component on reaching the voltage limit (C00079 = 1) if dynamic accelerationprocesses in the field weakening range are wanted.
The function should be deactivated again if slight speed variations occur in thefield weakening range.
Feedforward control of the current controller (decoupling network)
Decoupling the direct-axis current and the cross current via a decoupling network iscurrently being prepared.
Without limitation: With limitation:
Speed setpointActual speed value
In the Lenze setting, the function "without limitation" is deactivated because the robustness of the drive may decrease in the field weakening range. This may result in slight speed variations.
t
n [rpm] �
�
t
n [rpm] �
�
Parameter Information Lenze setting
Value Unit
C00079/3 SC: n-Ctrl Anti-WindUp 0 -
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Selection of the operating mode
5.1.3 Optimising the motor parameter identification
For the measurement of the variables required, the motor is energised via the controllerterminals U, V and W during the motor parameter identification.
The corresponding current controller can be set via the codes C00075 and C00076.
In the Lenze setting, the current controller is preset in such a way that an optimumcontroller behaviour is obtained for a motor with power adaptation to the inverter.
Note!
The motor parameter identification may be aborted if a special motor (e.g. mid-frequency motor) is used or if there is a large deviation between inverter and motor power.
In this case we recommend
• to reduce the P component Vp of the current controller C00075 e.g. by halving.
• to increase the time constant Ti of the current controller C00076 e.g. by doubling it.
Another cause for the abort of the motor parameter identification could be the implausibility of the entered nameplate data, e.g. the entry P = 0 kW for the motor power.
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5.2 Motor selection
Particularly the field-oriented control requires the motor data parameters to be set. Themotor data comprise the parameters of the motor nameplate and the data of theequivalent circuit diagram of the motor:
Overview of the relevant parameters, field
[5-3] Codes of the motor nameplate
Click the button shown on the left to openthe motor selection tab.
Parameter Information
C00081 Rated motor power
C00087 Rated motor speed
C00088 Rated motor current
C00089 Rated motor frequency
C00090 Rated motor voltage
C00091 Motor cos ϕ
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Motor selection
Other motor data
In the lower part of the tab you will find the "Other motor data" button, see in theillustration above. After a click the following interface opens:
Overview of the relevant parameters
[5-4] Codes of the equivalent circuit diagram of the motor
Parameter Information
C00084 Motor stator resistance
C00085 Motor stator leakage inductance
C00082 Motor rotor resistance
C00092 Motor magnetising inductance
C00095 Motor magnetising current
C00015 VFCplus: U/f base frequency
C00021 Slip compensation
C00070 SLVC: Vp speed controller
C00071 SLVC: Ti speed controller
C00075 Vp current controller
C00076 Ti current controller
C00273 SC: Moment of inertia
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Motor cable
In addition to the motor data, the resistance of the motor cable can also be detected andconsidered by entering the motor cable length and the motor cable cross-section. For acorrect identification of the equivalent circuit parameters of the motor, the entry of themotor cable data is mandatory, especially for long motor cables.
Overview of the relevant parameters
[5-5] Codes of the motor cable
Parameter Information
C00915 Motor cable length
C00916 Motor cable cross-section
C00917 Motor cable resistance
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8400 HighLine C | Software ManualMotor control (MCTRL)
Motor selection
5.2.1 Selection via motor catalogue
By clicking the "From motor catalogue" button of the "Application parameters" tab, anoperator dialog opens for selecting a motor. The operator dialog provides the option to
select a motor (blue-highlighted cursor position) using the scroll function or
select a motor by entering various criteria. The search criteria must be entered in the grey area in the upper part of the operator dialog. Search criteria are
– Motor name (see list field "Name")
– Nameplate data (see list field "C86"). This selection is connected to the C00086 code which provides a selection limited to the most important motor types for e.g. setting parameters with the keypad.
– Product type (see list field "Type"), e.g. synchronous motors, asynchronous motors, geared motors etc.
– Manufacturer (see list field of the same name), e.g. Lenze motors, motors of other manufacturers, motors by user-defined entry
– Rated power (see list field "Power")
– Plant data (pre-optimised, motor-specific controller settings and motor moment of inertia)
[5-13] Motor catalogue
For each motor selected, its name, type, and important technical data are displayed in theright part of the operator dialog.
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5.2.2 Automatic motor parameter identification
The motor parameter identification serves to determine the motor data, the invertercharacteristic and the effects of the motor cable.
Danger!
During the motor parameter identification, the motor is energised via the outputs U, V and W of the controller!
Observe the corresponding safety instructions!
Note!
Before initial commissioning of the vector control, it is absolutely recommended to carry out the motor parameter identification.
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8400 HighLine C | Software ManualMotor control (MCTRL)
Motor selection
Overview of the relevant parameters:
[5-6] Codes for automatic motor parameter identification
Parameter Information
C00015 V/f base frequencyValue measured during the parameter identification or calculated value
C00016 Vmin boostValue measured during the parameter identification or calculated value
C00021 Slip compensation Value measured during the parameter identification or calculated value
C00081 Rated motor power specified on the nameplate
C00082 Motor rotor resistance
C00083 Motor rotor time constantValue measured during the parameter identification or calculated value
C00084 Value measured during the parameter identification or calculated value
C00085 Value measured during the parameter identification or calculated value
C00087 Nameplate data, rated motor speed
C00088 Nameplate data, rated motor current
C00089 Nameplate data, rated motor frequency
C00090 Nameplate data, rated motor voltage
C00091 Nameplate data, motor cos ϕ
C00092 Motor magnetising inductanceValue measured during the parameter identification or calculated value
C00095 Motor magnetising currentValue measured during the parameter identification or calculated value
C00915 Motor cable length
C00916 Motor cable cross-section
C00917 Motor cable resistance
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How to carry out the automatic motor parameter identification:
1. Inhibit controller or set it to the SwitchedON ( 62) state (e.g. LOW signal at terminal X4/RFR). Wait until the drive is at standstill.
2. Transfer the nameplate data to the following codes:
• C00081, rated motor power
• C00087, rated motor speed
• C00088 , rated motor current, enter value according to the connection method ( / )
• C00089 , rated motor frequency, enter value according to the connection method ( / )
• C00090 , rated motor voltage, enter value according to the connection method ( / )
• C00091, motor cos ϕ
3. Indicate motor cable length and motor cable cross-section
• Motor cable length C00915
• Motor cable cross-section C00916
• Motor cable resistance C00917
4. Start the motor parameter identification with the controller command C00002/23.
Note!
• The motor parameter identification must be carried out when the motor is cold!
• The load machine may remain connected. Holding brakes, if present, may remain in the braking position.
• With an idling motor, a small angular offset may occur at the motor shaft.
• The motor parameter identification may be aborted by unstable drive behaviour (e.g. through a special motor or a great deviation between inverter and motor power).
• To identify the stator resistance, the amplitude of the rated motor current C00088 is injected. If the rated motor current is lower than 60% of the rated inverter current, at least 60% of the rated inverter current is injected to ensure a sufficient accuracy of the parameter identification.
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Motor selection
5. Enable controller, set it to the OperationEnabled ( 62) state (e.g. HIGH Signal at terminal X4/RFR). The identification starts. The progress of the identification can be read in C00002/23. The identification takes approx. 30 s. During this time, the following steps are passed through:
• The motor stator resistance C00084 is measured.
• The inverter error characteristic is measured.
• The leakage inductance is measured
• The motor magnetising inductance C00092 and the motor rotor resistance C00082 are measured.
• The magnetising current C00095 is measured.
• The V/f base frequency C00015 is calculated.
• The slip compensation is C00021 calculated.
• The Vmin boost C00016 is detected.
6. The identification is complete when the message "Done" appears under C00002/23.
7. Inhibit controller or set it to the SwitchedON ( 62) state (e.g. LOW signal at terminal X4/RFR).
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5.2.3 Manual parameter setting for external motors
External motor data can be entered manually if you have the equivalent circuit diagramand nameplate data available.
Tip!
For the improvement of the concentricity factor, we recommend to carry out themotor parameter identification of the external motor first, and then enter the datafor the manual parameterisation.
Improving the concentricity factor includes
• the adjustment of the inverter error characteristic to the drive system and
• the knowledge of the motor cable resistance.
Both factors are determined during the motor parameter identification.
Overview of the relevant parameters
[5-7] Codes for the manual parameterisation of the motor data
Parameter Information
C00015 V/f base frequency,value measured during the parameter identification or calculated value
C00016 Vmin boost
C00021 Slip compensation, value measured during the parameter identification or calculated value
C00081 Rated motor power, nameplate data
C00082 Motor rotor resistance
C00084 Motor stator resistance,value measured during the parameter identification or calculated value
C00085 Motor stator leakage inductance,value measured during the parameter identification or calculated value
C00087 Rated motor speed, nameplate data
C00088 Rated motor current, nameplate data
C00089 Rated motor frequency, nameplate data
C00090 Rated motor voltage, nameplate data
C00091 Motor cos ϕ, nameplate data
C00092 Motor magnetising inductance,value measured during the parameter identification or calculated value
C00095 Motor magnetising current,value measured during the parameter identification or calculated value
C00915 Motor cable length
C00916 Motor cable cross-section
C00917 Motor cable resistance
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Selection of the switching frequency
5.3 Selection of the switching frequency
The switching frequency of the inverter has an effect on the smooth running performanceand the noise generation in the motor connected, as well as on the power loss in thecontroller.
The lower the switching frequency, the
better the concentricity factor
lower the power loss
higher the noise generation.
Adjustable switching frequencies:
Lowering the switching frequency due to high heatsink temperatures
If the maximally permissible heatsink temperature was exceeded, the drive would beinhibited due to the "Overtemperature" error and the motor would coast without anytorque.
Note!
Operate the mid-frequency motors exclusively with the switching frequency f = 8 kHzsin or f = 16 kHzsin .
Parameter Values Information
C00018 1: 4 kHz var./drive-optimised • "var.":Adaptation of the switching frequency depending on the current
• "drive-opt.":drive-optimised modulation ("sine/delta modulation")
2: 8 kHz var./drive-optimised
3: 16 kHz var./drive-optimised
4: Reserved
5: 2 kHz constant/drive-optimised
• "fixed":Fixed switching frequencies
• "drive-opt.":drive-optimised modulation ("sine/delta modulation")
6: 4 kHz constant/drive-optimised
7: 8 kHz constant/drive-optimised
8: 16 kHz constant/drive-optimised
11: 4 kHz var./min. Pv • "min. Pv":The "min. PV" modulation mode additionally reduces the power loss for these switching frequencies.12: 8 kHz var./min. Pv
13: 16 kHz var./min. Pv
14: Reserved
15: 2 kHz constant/min. Pv
16: 4 kHz constant/min. Pv
17: 8 kHz constant/min. Pv
18: 16 kHz constant/min. Pv
8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the switching frequency
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Therefore, the switching frequency in the Lenze setting is lowered to the next smaller valuewhen the heatsink temperature has increased to 5 ° C below the maximally permissibletemperature.
After the heatsink has cooled down, the controller automatically switches to the nexthigher switching frequency up to the switching frequency set.
Lowering the switching frequency can be prevented using code C00144. When themaximally permissible heatsink temperature is reached, "Trip" is set for the respectiveswitching frequency and the motor coasts, see code C00165.
Lowering of the switching frequency depending on the output current
"Variable" switching frequencies can be selected for the controller in C00018, where thecontroller automatically lowers the switching frequency depending on the controlleroutput current. The modulation mode will not be changed. The changeover thresholds areincluded in the rated data of the Hardware Manual (the Hardware Manual is available onthe CD included in the scope of supply).
When a "constant" switching frequency is selected, no switching frequency changeovertakes place. In case of fixed frequencies, the controller output current is limited to thepermissible value of the corresponding switching frequency. In case of larger loadimpulses, the overcurrent interruption may be activated, to which the controller respondswith "Trip", see code C00165.
Tip!
The Lenze setting "8 kHzsinvar" ( C00018, value "2") is the optimum value forstandard applications.
Note!
For operation with a switching frequency of 16 kHz,
• the controller output current must not exceed the current limit values given in the technical data. Reduce the output current using the codes C00022, C00023.
• the Ixt evaluation C00064 is considered with the required derating to 0.67 Irated (Irated - rated device current) at switching frequencies of 2, 4 and 8 kHz.
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Selection of the switching frequency
Limiting the maximum output frequency
The maximum output frequency C00910 of the controller is not limited depending on theswitching frequency.
For this reason, adapt the maximum output frequency according to our recommendation:
Carry out further measures:
If required, deactivate the switching frequency changeover by the heatsink temperature C00144.
If required, ensure that the changeover threshold of the controller output current to the next smaller switching frequency will not be exceeded. If required, select a constant switching frequency using code C00018.
Display of the current switching frequency
The switching frequency currently being applied in the controller is displayed under codeC00725.
Operation at an ambient temperature of 45°C
The controller is designed so that operation at an ambient temperature of 45° C withoutderating is permissible at a switching frequency of 4 kHz.
Note!
If the servo control mode (SC) is selected, the drive assumes the 'maximum current limitation' state if the maximum output frequency C00910 has been reached.
At a switching frequency of 4 kHz, for instance, 500 Hz for the maximum output frequency should not be exceeded.
Maximum output frequency18---Switching frequency≤
8400 HighLine C | Software ManualMotor control (MCTRL)Definition of current and speed limits
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5.4 Definition of current and speed limits
5.4.1 Definition of speed limits
Limitation of the speed setpoint
The parameter setting of code C00011 means with a speed setpoint of 100 % the drivemust rotate with the given value of the code. The speed setpoint information is given inpercent and refers to the reference speed set in C00011.. For the sake of the resolution to beachieved and the connected accuracy, the reference speed should be based on the speedrange required in the prevailing application.
Lenze recommendation: Reference speed = 1500 ... 3000 rpm .
Irrespective of the operating mode, there are more limitation options:
Limitation of the max. positive or negative speed C00909/1 or /2
Limitation of the max. positive or negative output field frequency C00910/1 or /2
Note!
In the torque-controlled operation (bTorqueModeOn = TRUE), the limitation of the speed setpoint has no function! In this case, a permissible speed range can be defined via the speed limitation (nSpeedHighLimit and nSpeedLowLimit).
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Definition of current and speed limits
5.4.2 Definition of current limits
The 8400 controllers are provided in the various operating modes with functions whichdetermine the dynamic behaviour under load and counteract the exceedance of themaximum current in motor or generator mode.
The max. motor or generator current is limited with the codes C00022 or C00023.
The current limits must be selected depending on
the permissible maximum motor current
– Recommendation: I(mot)rated < 1.5 ... 2.0
the permissible maximum inverter current
the required motor or generator torque for the application
How to adapt the peak current limitation:
1. VFCplus with encoder:
• Reduce the slip limitation to twice the rate motor slip with C00971
• Reduce Vmin with C00016
2. VFCplus:
• Reduce the slip compensation with C00021.
3. SLVC:
• Reduce the slip compensation with C00021.
• Reduce nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2
4. SC:
• Reduce the jerk limitation with C00274.
• Reduce nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2
Note!
Highly dynamic applications(e.g. too low acceleration and deceleration ramp times or greatly fluctuating loads)
The overcurrent disconnection may respond (fault message OC1 or OC11) when the parameterisation of the maximum current in motor mode C00022 approximately corresponds to the maximum permissible value of the respective inverter.
Remedy by
• Increase of the acceleration and deceleration ramp time,
• Reduction of the maximum current C00022 / C00023 in motor/generator mode
• Adaptation of the indirect peak current limitation the implementation of which is dependent on the operating mode (procedure described below)
• Reduction of the current limitation controller's reset time with C00074/1.
8400 HighLine C | Software ManualMotor control (MCTRL)Flying restart function
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5.5 Flying restart function
The flying restart function works with a simple asynchronous motor model which requiresthe knowledge of the motor stator resistance RS and the rated motor current. In order thatthe flying restart function works properly, we recommend to carry out a parameteridentification before using the function. Automatic motor parameter identification( 140)
The flying restart function works safely and reliably for drives with great centrifugalmasses.
Tip!
• When power-adapted standard asynchronous motors are used (rated motor power approximately corresponds to the rated inverter power), a motor parameter identification is not required.
• On drive systems with feedback, you do not need to use the flying restart function because the synchronisation to the speed detected by the feedback is always carried out in a jerk-free manner.
• In connection with the flying restart function, we recommend to read the information given in this manual in the chapter
Automatic DC-injection braking (Auto-DCB) ( 155)
5.5.1 General information
This function serves to activate a mode which is used to "catch" a coasting motor duringoperation without speed feedback. This means that the synchronicity between controllerand motor is to be adjusted in such a way that a jerk-free transition to the rotatingmachines is achieved in the instant of connection.
The frequency inverter detects the synchronicity by identifying the synchronous fieldfrequency.
Duration
The "catching" process is completed after approx. 0.5 ... 1.5 seconds. The duration isinfluenced by the starting value. If the field frequency is not known, we recommend a fixedstarting value of 10 Hz (or -10 Hz with systems rotating in negative direction).
Note!
• Do not use the flying restart function if several motors with different centrifugal masses are connected to a controller.
• After the controller is enabled, the motor can start for a short time or reverse when machines with low friction and low mass inertia are used.
• The flying restart process serves to identify max. field frequencies up to +/-200 Hz.
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8400 HighLine C | Software ManualMotor control (MCTRL)Flying restart function
Overview of the relevant parameters
How to parameterise the flying restart function:
1. Activate flying restart function in C00990 through "ON".
• Every time the controller is enabled, a synchronisation to the rotating or standing drive is carried out.
When the Lenze setting is used, most applications do not require additional controller settings.
If additional settings are necessary, proceed as follows:
2. Define the speed or rotational frequency range to be searched by the flying restart function in C00991:
• positive speed range (n ≥ 0 rpm )
• negative speed range (n ≤ 0 rpm )
• total speed range
3. Select start frequency C00991 and C00992
We recommend to define a starting frequency of approximately 20 % of the rated motor frequency to enable a safe and fast connection to standing drive systems.
• For the methods 1-4, the starting frequency defining the starting point of the flying restart process is at 10 / -10 Hz and is pre-optimised for standard motors. With C0990 = 5 you can freely select the starting frequency under code C0992. This is especially recommended for motors with higher rated frequencies.
• For systems with a known search speed (e.g. torque-controlled drive systems which are to synchronise to a defined speed) the starting value can be adapted to reduce the flying restart time.
4. Set flying restart current C00994
We recommend to set a flying restart current of 10 % ... 25 % of the rated motor current.
• During a flying restart process, a current is injected into the motor to identify the speed.
• Reducing the current causes a reduction of the motor torque during the flying restart process. A short-time starting action or reversing of the motor is prevented with low flying restart currents.
• An increase of the current improves the robustness of the flying restart function.
5. Set current controller C00075 C00076
Parameter Information
C00075 Gain of the current controller
C00076 Time constant of the current controller
C00990 Activation of flying restart function
C00991 Selection of the flying restart function
C00992 Selection of the starting frequency
C00994 Current injection for the flying restart process
8400 HighLine C | Software ManualMotor control (MCTRL)Flying restart function
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During the catching process, current and torque peaks are prevented by controlling the current amplitude. The gain C00075 and the time constant C00076 can be adapted so that the jerk-free / torque-free connection of the inverter to the rotating motor can be improved.
We recommend not to change the Lenze setting of the current controller.
• If the current controller behaves unstable, it can be set as follows:
Tip!
Lenze recommends the following for a faultless operation:
• If a low flying restart current C00994 of 10% or less is used, reduce the integration time C00993 to 60 ... 300 ms.
• The flying restart process can also be accelerated by reducing the integration time to 60 ... 300 ms if this is required.
• If motors with higher rated frequencies are used, we recommend to manually enter a starting frequency C00992 of 20 % of the rated motor frequency and to accelerate the flying restart process (see above) and the use of a lower flying restart current ( 10 % of the rated motor current).
• Vp = current controller gain [V/A], C00075 • Tn = reset time [s], C00076 • Lss = motor stator leakage inductance [H], C00085 • Rs = motor stator resistance [Ω], C00084 • TE = equivalent time constant (= 500 μs)
VP C00075,LSS H[ ]TE s[ ]-----------------=
Tn C00076,LSS H[ ]RS Ω[ ]-----------------=
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DC-injection braking
5.6 DC-injection braking
DC-injection braking allows the drive to be quickly braked to a standstill without the needto use an external brake resistor.
The braking current can be defined with code C00036.
The maximum braking torque to be generated by the DC braking current is approx. 20 ... 30 % of the rated motor torque. It is lower than that for braking in generator mode with an external brake resistor.
Automatic DC-injection braking (Auto-DCB) improves the starting performance of the motor during operation without speed feedback.
Overview of the relevant parameters
DC-injection braking can be carried out in two ways with different types of activation:
Manual DC-injection braking (DCB) ( 154)
Automatic DC-injection braking (Auto-DCB) ( 155)
Danger!
The DC-injection braking or auto DC-injection braking function cannot be used with the servo control (SC) mode.
Parameter Information
C00019 Auto-DCB: thresholdResponse threshold for activating the DC-injection braking
C00036 DCB: currentEnter the current in [%]
C00106 Auto-DCB: hold time
C00107 DCB: hold time
C00701/4 See explanations for function block LA_NCtrl
8400 HighLine C | Software ManualMotor control (MCTRL)DC-injection braking
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5.6.1 Manual DC-injection braking (DCB)
DC-injection braking can be activated manually by connecting the pbSetDCBrake input ofthe application block LA_NCtrl with a digital signal source (e.g. via the digital signal sourcebCtrl1_B3 of the port block LP_CANIn1).
For HIGH-active inputs, DC-injection braking is active as long as the signal is at HIGH level.
When the hold time C00107 has expired, the controller sets the pulse inhibit (CINH).
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DC-injection braking
5.6.2 Automatic DC-injection braking (Auto-DCB)
"Automatic DC-injection braking" (in the following called "Auto-DCB") can be used whenthe drive has to be deenergised at n ≈ 0.
Function
For understanding the "Auto-DCB" function, it is necessary to distinguish between threedifferent types of operation:
1. The drive is enabled and during operation the speed setpoint falls below the Auto-DCB threshold.
– In case of operation without speed feedback, a braking current C00036 is injected. When the Auto-DCB hold time C00106 has expired, the motor is deenergised via the Auto-DCB function, i.e. the controller inhibit (CINH) is set.
– In case of operation with speed feedback, the motor is deenergised via the Auto-DCB function when the Auto-DCB hold time C00106 has expired, i.e. the controller inhibit (CINH) is set. The braking current, which can be parameterised with code C00036, is without effect during operation with speed feedback.
2. When the controller is enabled, the drive is at standstill (n = 0). If the enabled drive is to start, the speed setpoint passed via the acceleration ramp must exceed the Auto-DCB threshold C00019. Below this threshold, the motor will not be energised.
3. When the controller is enabled, the motor (still) rotates with a speed which is above the auto DCB threshold. If the speed setpoint reached via the acceleration ramp exceeds the auto DCB threshold C00019, the motor will be energised and the following action will take place:
– During operation without speed feedback, the drive will be "catched".For more information about this topic, please read Flying restart function ( 150).
– During operation with speed feedback, synchronisation to the current actual speed value takes place.
Tip!
We recommend to deactivate Auto-DCB with speed feedback C00495 via codeC00019 (value = "0").
8400 HighLine C | Software ManualMotor control (MCTRL)DC-injection braking
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Auto-DCB function during operation with speed feedback
If you want to use the Auto-DCB function contrary to our recommendation (see above), theAuto-DCB threshold must not fall below the following values depending on the number ofencoder increments C00420:
How to set the automatic DC-injection braking
1. Set the hold time under code C00106 to t > 0.00 s
• Automatic DC-injection braking is active for the time set.
• In case of operation without speed feedback, a braking current is injected (code C00036).
• When the hold time C00106 has expired, the controller sets the pulse inhibit.
2. Set the response threshold with C00019. This code can be used to set a dead band in the setpoint. If DC-injection braking is not to be active here, C00106 must be set to the value "0.00".
Stop!
If the DC-injection braking operation is too long and the braking current or braking voltage is too high, the connected motor may overheat.
Number of encoder increments C00420
Auto-DCB threshold C00019
8 16
16 8
32 4
64 2
> 128 No restrictions
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DC-injection braking
Explanation of the automatic DC-injection braking function by means of two examples
Example 1
[5-14] Example 1: Signal characteristic for automatic DC-injection braking of a drive without speed feedback
Example 2
[5-15] Example 2: Signal characteristic for automatic DC-injection braking of a drive with speed feedback
:Speed setpoint :Actual speed value of the motor :Controller output current :Pulse inhibit :DC-injection braking is active
:The motor rotates with the selected speed. The resulting current depends on the load. See .
:The braking current set under C00036 is injected.
:When the hold time C00107 has expired, the pulse inhibit is set.
�
�
�
�
�
� �
C0107
C00036
C00019
�
:Speed setpoint :Actual speed value of the motor :Controller output current :Pulse inhibit :DC-injection braking is active
:The motor rotates with the selected speed. The resulting current depends on the load .
:The braking current set under C00036 is injected.
:The actual speed value of the motor follows the speed setpoint. The resulting current depends on the load.
�
�
�
�
�
� �
C00036
C00019
�
8400 HighLine C | Software ManualMotor control (MCTRL)Oscillation damping
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5.7 Oscillation damping
Mechanical oscillations are undesirable effects in every process and they may have anadverse effect on the single system components and/or the production output.
Mechanical oscillations in the form of speed oscillations are suppressed by the oscillationdamping function.
Oscillation damping is successfully used with
unloaded motors (no-load oscillations)
motors with a different rated power than that of the controller, e.g. at operation with high switching frequency and the related power derating.
operation with higher-pole motors
operation with special motors
compensation of resonances in the drive
– At an output frequency of approx. 20 ... 40 Hz, some asynchronous motors can show resonances which cause current and speed variations and thus destabilise the running operation.
How to eliminate speed oscillations:
1. Approach the area where the speed oscillations occur.
2. Reduce the speed oscillations by changing C00079 step by step.
3. These can be indicators for smooth running:
• Constant motor current characteristic
• Reduction of the mechanical oscillations in the bearing seat
See also: Skip frequency function
Note!
Compensate the resonances during operation with feedback (closed loop, feedback of nact) via the parameters of the slip regulator only.
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5.8 Signal flow
[5-1] Signal flow - V/f characteristic control without feedback
PWM
fPWM:C00018
0
1
f :
C00910/1 /2max
f :
C00910/1 /2max
n :
C00909/1 /2max
nVoltageAdd_aC00830/31
n16Boost_a
nMotorSpeedAct_aC00051
fMod
nMotorVoltageC00052
C00014
nEffCurrentIq
nEffSpeedSetValue_aC00050
0
1
nSpeedSetValue_aC00830/22
bSetQSP
Hz
%
Hz
%
nMotorFreqAct_aC00058
nMotorTorqueAct_a
nOutputSpeedCtrl_a
C00056/1
C00105
SlipcompC00021
Hz
Hz
%
%
:C00015:C00016
:C00015:C00016
V :C00073/1pT :C00074/1N
nStatorCurrentIsC00054
nMotorTorqueAct_aC00056/2
nTorqueMotLim_aC00830/28
C00830/29nTorqueGenLim_a
I :C00022
I :C00023max Mot
max Gen
bLimCurrentSetValbLimSpeedCtrlOut
0
1
bLimTorqueSetVal
nPWMAngleOffset_aC00830/32nVoltageAdd_aC00830/31
ModulatorCharacteristicselection
Slip compensation
I controllermax
Coordinatetransformation
Invertererrorcharacteristic
U/f-linear
U/f-quad
QSP ramp
f
Vbase
min
f
Vbase
min
Vset
Motor slip model
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[5-2] V/f characteristic control with feedback
0
1
C00971/1
nOutputSpeedCtrl_a
nMotorTorqueAct_aC00056/2
nSpeedCtrlISet
nCtrlSpeedPAdapt_abSetCtrlSpeedPAdapt
nVoltageAdd_aC00830/31
nSetSpeedCtrlI
nMotorSpeedAct_aC00051
0
1
QSP
C00014nBoost
bLimSpeedCtrlOut
nMotorVoltageC00052
n :C00909max
bNMaxFault
V :C00073/1pT :C00074/1N
nMotorFreqActC00058
%
Hz
%
%
Hz
Hz
%Hz
%
Hz
f :C00910/1 /2max
n16SpeedCrlI_a
2
01
C00495
PWM
nPWMAngleOffset_aC00830/32nVoltageAdd_aC00830/31
nSpeedSetValue_aC00830/22
fPWMC00018
nStatorCurrentIsC00054
nMotorTorqueAct_aC00056/2
nTorqueMotLim_aC00830/28
C00830/29nTorqueGenLim_a
I :C00022
I :C00023max Mot
max Gen
nEffSpeedSetValue_aC00050
KP C00972TN C00973
- C00971/2
nMotorSpeedAct [Hz]+ C00971/2
C00497/2C00497/1
:C00015:C00016
:C00015:C00016
100 kHz
10 kHz
C00105
bLimCurrentSetValbLimSpeedCtrlOut
0
1
bLimTorqueSetVal
I controllermax
Speed measurement
Slip regulator
ModulatorSelectionof characteristic
QSP rampTransformationof coordinates
Inverter errorcharacteristic
V/f linear
V/f square
Vmod
fmod
f
Vbase
min
f
Vbase
min
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[5-3] Sensorless vector control (speed control)
PWM
nOutputSpeedCtrl
nSpeedHighLimitnSpeedLowLimit
nSpeedCtrlPAdaptbSpeedCtrlPAdapt
nSpeedCtrllAct
nTorqueSetValue_a
n16PWMAngleOffsetC00830/32nVoltageAdd_aC00830/31
nMotorSpeedAct_aC00051
nReactCurrentId
n16MotorFreqAcC00058
C00018
fMod
iqset
iq
idset
Imr
�U�U
fMod
nMotorVoltageC00052
I :C00022maxVP:C00073/1TN:C00074/1
R - C00084
L - C00085
L - C00092
S
h
�
PWM
C00018
n :
C00909/1 /2max
nEffSpeedSetValue_aC00050
0
1
nSpeedSetValue_aC00830/22
bSetQSPC00833/33
Hz
%
bLimSpeedCtrlOut
nLimMotTorquenLimGenTorque
0
1
nActualFluxx
nEffCurrentIq
Hz
Vp: fix
%
f :C00910/1 /2max
T :C00074/1
N
A
Nm
T :C00074/1
N
T_Rotor
T :C00074/1
N
T :C00074/1
N
nMotorTorqueActC00056/2
C00021
nEffCurrentIq
VP:C00070/2TN:C00071/2 I :C00023max
A
Nm
0
1
nInputJerkCtrl
nSpeedCtrllSetbSpeedCtrll
bTorqueModeOn
NInputTorqueControlA
Nm
bLimCurrentSetValue
T :C00074/1
N
f :C00910/1 /2max
C00105
0
1
bSetQSP
C00275 C00273
0
bTorqueModeOn
nInputTorqueCtrlC00056/1
A
Nm
Flux model(Calculation of slip)
Motor voltage model
Speedlimitation
Transformationof coordinates
Invertererrorcharacteristic
VsetVsetDirect-axis current controller
Speed controller
Torque control withspeed limitation
Magnetization
Torque controller
Modulator
QSP ramp
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[5-4] Signal flow - servo control for asynchronous motor
PWM
nMotorVoltageC52/0
n16PWMAngleOffsetn16VoltAdd
C18
Id
nMotorSpeedAct
VP:C75TN:C76
C274
f:C576�
VP:C75TN:C76
VP:C77TN:C78
VP:C577TN:C578
PWM
C18
0
1
bPosCtrlOnC833/27PosInterpol.
C1220/Bit00
nEffSpeedSetValueC50/0
A
Nm
C79
I :C22max
I :C23max
fd
nMotorSpeedAct
0.95
nInputTorqueCtrlC56/1
nTorqueMotLimC830/29nTorqueGenLimC830/28
bLimCurrentSetVal
nTorqueSetValueC830/27
bTorqueModeOnC833/30
nInputJerkCtrl
bTorqueInterpolationOn
nSpeedCtrllSet C830/24
nLimMotTorque C830/29
nLimSpeedCtrlOut
nSpeedCtrlPAdapt C830/25
bSpeedCtrll C833/31
nLimGenTorque C830/28
bSpeedCtrlPAdapt
nSpeedCtrllAct
0
nOutputSpeedCtrl
0
1
VP:C70/2TN:C71/2TD:C72
0
1
0
V
C254P
nPosCtrlOutLimitC830/21
nSpeedHighLimitC830/88
nSpeedLowLimitC830/23
dnMotorPosAct
bSetQSPC833/33
bPosDerivateOnC833/67
On:C274<C274MotbLimTorqueSetVal
C79 .. C91
I C95MRC280
C52
f:C270f:C271
dB:C272�
C21
T C83R
+
2
01
2
01
C497/1C497/2
100 kHz
10 kHz
C495
C490
C496
DIGIN 1/2
DIGIN 6/7
bSetMotorPostionRefC833/68dnMotorPosRefValueC833/6
C105
C273
bTorqueModeOnC833/300
1
bSetQSPC833/33
0
1
0
1
+
dnPosSetValueC834/6
C275
0
1
+
0
nSpeedSetValueC830/22
dnDeltaPosC834/4
fmax
C909/1,2nmax
C910/1,2
0
1
+
PID speed controller
Currentsetpoint filter
Transformationof coordinates
Invertererrorcharacteristics
Vset
Fieldfeedvorward
control
Angelcontroller
Encoder interface
PI currentcontroller
Modulator
Jerklimitation
PI currentcontroller
PI fieldcontroller
PI fieldweakeningcontroller
Differential setpointfeedforward control
Slipcalculation
Motor encoderselection
Motormodel
QSP ramp
Id_act
VDC bus
Vsd
Vsq
Vs max
Id_act
Id_act
Iq_act
Iq act
Imr_act
Iq_act
Vsq
Vsd
Iset
Jtotal
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System block "LS_MotorInterface"
5.9 System block "LS_MotorInterface"
8400 HighLine C | Software ManualMotor control (MCTRL)System block "LS_MotorInterface"
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Inputs
IdentifierDIS code | data type
Information/possible settings
nPosCtrlOutLimitINT
Limitation of the position controller output • Scaling: 16384 ≡ 100 % referred to C00011
bSpeedInterpolatorOnBOOL
Activate interpolation of the speed setpoint
nSpeedHighLimitINT
Upper speed limit for speed limitation (only for torque-controlled operation) • Scaling: 16384 ≡ 100 % referred to C00011
nSpeedLowLimitINT
Lower speed limit for speed limitation (only for torque-controlled operation) • Scaling: 16384 ≡ 100 % referred to C00011
nSpeedCtrlAdaptINT
Adaptation of the speed controller gain • Scaling: 16384 ≡ 100 % referred to C00071
nTorqueMotLimitINT
Torque limitation in motor mode • Scaling: 16384 ≡ 100 % Mmax referred to C00057
nTorqueGenLimitINT
Torque limitation in generator mode • Scaling: 16384 ≡ 100 % Mmax referred to C00057
bSetQSPBOOL
Set quick stop
nPWMAngleOffsetINT
Angle step change of output voltage phasor • Scaling: 65535 ≡ 1 revolution
bPosCtrlOnBOOL
Activate position or angle control
dnDeltaPosSetINT
Input difference of the position controller • Scaling: 65535 ≡ 1 revolution
dnPosSetINT
Setpoint of the position controller • Scaling: 65535 ≡ 1 revolution
bChoosePosInputBOOL
0:1:
dnDeltaPosSet - dnDeltaPosActdnDeltaPosSet
bSetSpeedCtrlIBOOL
Setting of the speed controller integrator(scaling depends on operating mode, C00006) • Scaling: 16384 ≡ 100 % nmax or 16384 ≡ 100 % Mmax
referred to C00011 or C00057
nSpeedCtrlISetINT
Value of the speed controller integrator(scaling depends on operating mode, C00006) • Scaling:
for C00006 = 2 or 4: 16384 ≡ 100 % Mmax referred to C00011 or C00057for C00006 = 7 or 9: 16384 ≡ 100 % nmax referred to C00011 or C00057
nSpeedAddINT
Speed setpoint • Scaling: 16384 ≡ 100 % nmax
bTorquemodeOnBOOL
Activate torque control
nTorqueAddINT
Torque setpoint / additive torque
bSetDCBrakeBOOL
Activate DC injection brake
nVoltageAddINT
Additive voltage impression • Scaling: 16384 ≡ 1000 V
bSetMotorPositionRefBOOL
Setting of a home mark
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System block "LS_MotorInterface"
dnMotorPosRefValueINT
Offset of the home mark • Scaling: 65535 ≡ 1 revolution
bAutoBoostActiveBOOL
Activate/deactivate AutoBoost function
IdentifierDIS code | data type
Information/possible settings
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Outputs
IdentifierDIS code | data type
Information/possible settings
bIdentificationStateBOOL
Motor parameter identification is active (1) / inactive (0)
bFlyingSyncStateBOOL
Flying restart circuit is active (1) / inactive (0)
bLimPosCtrlOutBOOL
Limitation of the position controller output is active
bLimSpeedCtrlOutBOOL
Speed or slip controller output limitation is active (1) / inactive (0)
bLimSpeedSetValBOOL
Setpoint speed reduction/increase by Imax controller is active (1) / inactive (0)
wMaxMotorSpeedC00011 | BOOL
Reference speed
nOutputSpeedCtrl_aINT
Speed or slip controller output • Scaling:
16384 ≡ 100 % nmax
nEffSpeedSetValue_aINT
Effective speed setpoint • Scaling:
16384 ≡ 100 % nmax
nMotorSpeedAct_aC00051 | INT
Actual speed value • Scaling:
16384 ≡ 100 % nmax
nMotorSpeedAct_vDINT
Actual speed value • Scaling:
65535 ≡ 1 revolution
nMotorFreqAct_aC00058 | INT
Current field frequency
bLimTorqueSetValBOOL
Limitation of setpoint torque is active (1) / inactive (0)
wMaxMotorTorqueC00057
100 = 0.01 NmMaximum motor torque
nInputTorqueCtrl_aINT
Input of torque control (setpoint), C00057 • Scaling:
16384 ≡ 100 % Mmax
nMotorTorqueAct_aC00056/2 | INT
Actual torque value, C00057 • Scaling:
16384 ≡ 100 % Mmax
bLimCurrentSetValBOOL
Current limitation is active (1) / inactive (0)
nInputJerkCtrl_aINT
Input of jerk limitation, C00057 • Scaling:
16384 ≡ 100 % Mmax
bQSPIsActiveBOOL
Quick stop is active (1) / inactive (0)
bAutoGSBIsActiveBOOL
Automatic DC-injection braking is active (1) / inactive (0)
bClampIsActiveBOOL
Current limitation clamp is active (1) / inactive (0)
bShortCircuitBOOL
Motor short-circuit detected (1) / not detected (0)
bEarthFaultBOOL
Earth fault detected (1) / not detected (0)
bUVDetectedBOOL
Undervoltage detected (1) / not detected (0)
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System block "LS_MotorInterface"
bOVDetectedBOOL
Overvoltage detected (1) / not detected (0)
bMotorPhaseFaultBOOL
Motor phase fault detected (1) / not detected (0)
bEncoderComFaultBOOL
Encoder fault detected (1) / not detected (0)
bBrakeChopperFaultBOOL
Brake chopper fault is active (1) / inactive (0)
bNMaxFaultBOOL
Limitation of max. setpoint speed is active (1) / inactive (0)
bFChopReducedBOOL
Reduction of the PWM frequency is active (1) / inactive (0)
bIxtOverloadBOOL
I*t- device utilisation 100% (1) / <100% (0)
nIxTRate_aC00064/1 | INT
16384 = 100%Display I*t - device utilisation
bI2xtOverloadBOOL
I²*t- thermal motor load 100% (1) / <100% (0)
nI2xTRate_aC00066 | INT
Display - thermal motor load I²*t • Scaling:
16384 ≡ 100 %
bMotorPTCFaultBOOL
Thermal overload of the motor (1) / no overload (0)
bHeatSinkTempFaultBOOL
Thermal overload of the inverter (1) / no overload (0)
nDCVoltage_aC00053 | INT
16384 = 1000VDC-bus voltage
nMotorVoltage_aC00052 | INT
16384 = 1000VMotor or inverter output voltage
nActualFluxx_aINT
Actual magnetising current value, C00022 • Scaling:
16384 ≡ 100 %
nStatorCurrentIS_aC00054 | INT
16384 = 100% Imax (C0022)Stator current or effective motor current
nEffCurrentIq_aINT
Torque-producing cross current, C00022 • Scaling:
16384 ≡ 100 % Imax
nReaktCurrentId_aINT
Field-producing direct-axis current, C00022 • Scaling:
16384 ≡ 100 % Imax
bHlgLoadBOOL
Set (1) / do not set (0) ramp function generator
nHlgSetValue_aINT
Transfer value for the ramp function generator, C00011 • Scaling:
16384 ≡ 100 %
bHlgStopBOOL
Stop of the ramp function generator
dnMotorPosActINT
Current position or angle value • Scaling:
65535 ≡ 1 revolution
nOutputPosCtrlINT
Output / correcting variable of the position controller, C00011 • Scaling:
16384 ≡ 100 % nmax
bMainsFaultBOOL
Mains phase / mains failure
IdentifierDIS code | data type
Information/possible settings
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bFanFaultBOOL
Fan monitoring: Fault detected
bNmaxForFchopBOOL
Maximum field frequency for the prevailing switching frequency is exceeded
bSafeTorqueOfActiveBOOL
Safe standstill is active
IdentifierDIS code | data type
Information/possible settings
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Monitoring functions
5.10 Monitoring functions
5.10.1 Motor temperature monitoring with I²xt
The 8400 frequency inverter is provided with a simple, sensorless monitoring for thermal
"I2xt" motor overload of self-ventilated standard motors.
C00066 displays the motor utilisation meter I2xt, which shows whether the motor isoverloaded or not.
With an overload of C00066 = 100 %, the permissible overload time of the motor is
reached, the message "Thermal motor overload, I2xt" (OC6) is output, and the response setin C00606 (default setting: "Warning") is actuated.
C00120 serves to enter the overload threshold for I2xt
Stop!
The I2xt motor monitoring does not present full motor protection! As the motor utilisation calculated in the thermal motor model is lost after mains switching, for instance the following operating states cannot be measured correctly:
• Restarting (after mains switching) of a motor that is already very hot.
• Change of the cooling conditions (e.g. cooling air flow interrupted or too warm).
A full motor protection requires additional measures as e.g. the evaluation of temperature sensors that are located directly in the winding or the use of thermal contacts.
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Adjustment
Calculate the overload threshold I2xt:
If you reduce C00120 starting from the calculated value, the motor utilisation counter
I2xt (C00066) is already counted up before the rated overload threshold has been reached.
If you increase C00120 starting from the calculated value, the motor utilisation meter
I2xt (C00066) will be counted up after the rated overload threshold has been reached.
The motor utilisation counter starts to count up if the apparent motor current (C00054) isgreater than the rated motor current (C00088).
[5-5] Tripping characteristic of the I2xt monitoring
Example: C00120 = Ir /IN x 100 %
– C00054 = 1.5 x rated motor current
– After approx. 60 seconds, C00066 has reached the final value 100 % at output frequencies f > 40 Hz. The controller switches off with the error "Thermal motor
overload, I2xt" (OC6) if C00606 is set to "0" (trip).
• Ir • IN
Rated motor current (C00088)Rated current of the controller at a switching frequency of f = 8 kHz
f: output frequencyt: release timeIN: rated controller current at a switching frequency of f = 8 kHzIr : rated motor current (C00088)C00054: apparent motor current
C00120Ir
IN----- 100%⋅=
60
180
240
300
360
t [s]
0.50
0
1.0 1.5 2.0 C00054Ir
120
f = 0 Hz
f = 20 Hz
f > 40 Hz
I x 100 %
Ir
N
C00120 <I x 100 %
Ir
N
C00120 =I x 100 %
Ir
N
C00120 >
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Monitoring functions
Tip!
• To prevent the overload threshold response of motors with forced ventilation from being triggered too early, deactivate this function.
• The current limits C00022 and C00023 only have an indirect influence on the
I2xt calculation. The settings of C00022 and C00023, however, serve to prevent the motor from being operated with maximally possible utilisation.
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5.10.2 Motor temperature monitoring with motor PTC
For detecting and monitoring of the motor temperature, a PTC thermistor (DIN 44081/DIN 44082) or a thermal contact (NC contact) can be connected to the terminals X2/T1 andX2/T2.
Lenze three-phase AC motors are provided with a thermal contact on delivery.
Tip!
We recommend to always activate the PTC input when using motors which areequipped with PTC thermistors or thermostats. This prevents the motor from beingdestroyed by overheating.
Activation of the PTC input
1. Connect the thermal contact of the motor to X2/T1 and X2/T2.
2. Connect the motor PTC or the thermal motor contact (NC contact) to X2/T1 and X2/T2.
– When 1.6 kΩ < R < 4 kΩ, monitoring responds, see functional test below.
3. Setting the controller response:
– C00585 = 0: No response (Motor temperature monitoring is switched off)
– C00585 = 1: TRIP error message
– C00585 = 5: Warning signal
Functional test
Connect a fixed resistor to the PTC input:
R > 4 kΩ : Fault message must be activated.
R < 1 kΩ : Fault message must not be activated.
Stop!
• The controller can only evaluate one PTC thermistor! Do not connect several PTC thermistors in series or parallel.
• If several motors are operated on one controller: Use thermal contacts (NC contacts) connected in series.
• To achieve full motor protection, an additional temperature monitoring with separate evaluation must be installed.
Note!
In the Lenze setting, the temperature monitoring of the motor is switched on! On delivery, there is a wire jumper between the terminals X2/T1 and X2/T2.
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Monitoring functions
5.10.3 Monitoring of the brake resistor by I²xt
The brake resistor is loaded thermally by the braking power that is converted, or can be
thermally destroyed due to a braking power that is too high. The I2xt utilisation of thecontroller which is proportional to the braking power converted is monitored to protect thebrake resistor.
If the I2xt utilisation reaches the threshold set in C00572, a parameterisable response istriggered, having a corresponding impact on the state machine and the inverter.
The following responses can be parameterised with C00574:
– 0, "No response" (Lenze setting)
– 1, "Fault", see Device states ( 56)
– 5, "Warning", see Device states ( 56)
If the system is dimensioned correctly, the monitoring should not be activated. If individualpieces of rated data of the actually connected brake resistor are not known, they have tobe identified.
If the DC-bus voltage exceeds the overvoltage threshold due to a braking energy that is toohigh, the monitoring for overvoltage in the DC bus ("OU", error number 0x007b000e) isactivated.
Apart from the threshold of the I2xt utilisation (see above), there is the switching thresholdof the brake transistor. The switching threshold of the brake transistor is set via the mainsselection in code C00173. The switching threshold can further be directly influenced by theuser via C00174.
Danger!
In the Lenze setting (C00574 = 0) braking operation is not switched off if the monitoring is activated!
In particular for applications like hoists or applications with a DC-bus connection it has to be checked whether it is permissible to switch off the braking operation by C00574 = 1 ("Fault").
Stop!
Implement appropriate protective measures against thermal overload of the brake resistor!
Examples:
• Parameterisation of an error response in C00574 and evaluation of the parameterised error message within the application or the machine control.
• Interruption of the mains supply by means of the temperature contact at the brake resistor and a simultaneous activation of the mechanical brake.
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Temperature model
[5-6] Signal flow for monitoring the brake resistor
The monitoring calculates the braking current IBr from the current DC-bus voltage UDC_actand the brake resistor parameterised in C00129 (see above). The monitoring can also beactivated on the basis of a value entered in C00129, although no brake resistor isconnected.
During the calculation, the thermal utilisation of the brake resistor on the basis of thefollowing parameters is taken into consideration:
Resistance value C00129
Continuous power C00130
Thermal capacity C00131
In the Lenze setting these parameters are preset with the corresponding power-adaptedLenze brake resistor.
With code C00133 the calculated utilisation of the brake resistor in [%] is shown. Autilisation of 100 % corresponds to the continuous power of the brake resistor against themaximum permissible temperature limit.
Error message:
"Brake resistor I2xt overload"
�
C00138C00130
C00131
IBr
I = 1On
I = 0Off
I xt2
C00572 C00574
C00129�
temperature model
IBrUDC_act
C00129--------------------=
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Braking operation
5.11 Braking operation
We recommend to use the brake chopper (braking transistor) integrated in the controller independently of the operating mode for braking. Connect the required brake resistor to controller terminals RB1 and RB2.
For a DC-bus connection with other devices, we recommend to connect the regenerative power supply module to terminals +UG and –UG.
For installing the regenerative power supply module, follow the instructions in thehardware manual.
Tip!
• All controller instructions required are stored in electronic form on the data carrier supplied together with your 8400 frequency inverter.
Parameter setting
Stop!
If the connected brake resistor is smaller than required, the brake chopper can be destroyed!
For appropriate protective measures, seeAvoiding a thermal overload of the brake resistor ( 176)
Note!
If none of these measures are taken, e.g. the overvoltage deactivation ("OU") may respond in case of low deceleration times during regenerative operation, see Error messages of the operating system ( 298).
Under C00175 you can optionally select the stopping of the ramp function generator in the function block "L_NSet_1" and the QSP ramp for overvoltage to prevent an overvoltage deactivation in case of low deceleration times.
Parameter Information
C00129 •
C00130
C00131
C00133
C00173
C00174
C00175
C00572
C00574
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5.11.1 Selecting the voltage source for braking
The voltage source for braking is selected under C00173 (mains voltage) and C00174(brake transistor threshold reduction). When the brake chopper threshold is exceeded inthe DC bus, the brake transistor will be switched on or the ramp function generator will bestopped by L_NSet_1 and QSP (depending on the setting under C00175).
5.11.2 Avoiding a thermal overload of the brake resistor
Parameterisation of an error response under C00574 and evaluation of the parameterised error message in the application or within the machine control system. (see 5.10.3. Monitoring of the brake resistance by I²xt)
External interconnection using the thermal contact on the brake resistor (e.g. supply interruption via the mains contactor and activation of the mechanical brakes).
Mains voltage C00173 Effective brake chopper threshold
0 3ph 400V / 1ph 230V 725V / 380V - value under C00174 (0...150V)
1 3ph 440V / 1ph 230V 735V / 380V - value under C00174 (0...150V)
2 3ph 480V / 1ph 230V 775V / 380V - value under C00174 (0...150V)
3 3ph 500V / 1ph 230V 790V / 380V - value under C00174 (0...150V)
4 3ph 400V / 1ph 115V 725V / 205V - value under C00174 (0...150V)
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6 I/O terminals
This chapter informs about the function and the possible parameter settings of thecontroller's input and output terminals.
The parameters are set in the »Engineer« on the Terminal assignment tab. Here, analogterminals" and "digital terminals" are distinguished in the Pin connections list field:
Analog inputs ( 179) Analog outputs ( 183)
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Digital inputs ( 187)
Digital outputs ( 197)
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Analog inputs
6.1 Analog inputs
The controller has four analog inputs for detecting two current and two voltage signals:
Voltage signals in the ± 10 V rangeThe voltage signal can be e.g. an analog speed setpoint or the signal of an external sensor (temperature, pressure, etc.).
Current signals in the 0/+ 4 ... + 20 mA rangeFor open-circuit monitoring, the current signal can be evaluated with regard to "Life Zero" or "Dead Zero":
– 0 ... 20 mA, without open-circuit monitoring
– 4 ... 20 mA, with open-circuit monitoring
In addition, offset and gain can be parameterised
Diagnostics options
– The monitored input can be queried with a status signal
– The input values of the system block are displayed in the Engineer / keypad
Note!
To avoid undefined states, free input terminals of the controller must be assigned as well, e.g. by applying 0 V to the terminal.
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6.1.1 Terminal assignment/electrical data
Terminal Use Electrical data
X3/A1UX3/A2U
Voltage input Level: - 10 V ... + 10 V
Resolution: 10 Bit + sign bit(Error: 1 Digit ≡ 0.1 %, related to the final value)
Scaling: When C00034 = "0":± 10 V ≡ ± 214 ≡ 16384 ≡ ± 100 %
Conversion rate: 1 kHz *)
Input resistance > 80 kΩ
Input voltage in case of opencircuit
Display 0 (V < 0.2 V, absolute)
Sampling frequency(processing cycle)
1 kHz (1 ms)
Accuracy ± 0.1 V
Electric strength of externalvoltage
± 15 V, permanent
Limit frequency 315 Hz at -3 dB
Temperature influence ± 0.5 % or ± 1 mV/K (Tamb = - 10° C ... + 55° C)
X3/A1IX3/A2I
Current input Level: • 0 ... + 20 mA • + 4 ... + 20 mA (life zero)
Resolution: 10 Bit(Error: 1 Digit ≡ 0.1 %, related to the final value)
Switching hysteresis: 1 % (at 20 mA)
Scaling: When C00034 = "1":0 mA ... + 20 mA = 0 ... + 214
When C00034 = "2":+ 4 mA ... + 20 mA = 0 ... + 214
Conversion rate: 1 kHz *)
Input resistance 215 Ω
Input voltage in case of opencircuit
Display 0 (I < 0.1 mA)
Sampling frequency(processing cycle)
1 kHz (1 ms)
Accuracy ± 0.1 mA
Electric strength of externalvoltage
± 7 V, permanent
Temperature influence ± 0.5 % or ± 1 mV/K, (Tamb = - 10° C ... + 55° C)
X3/GA GND, reference potential of analog signals
X3
A1U
AR
A1I
A2
UA
2IG
AO
1UO
1IO
2UO
2I
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Analog inputs
*) In order to filter out short-time interferences from the analog signal characteristic, the analog input value is measured four times within the conversion rate (1 kHz = 1 ms). Then, the mean value is calculated. The mean value corresponds to the process signal at the output of the system block. In addition, the voltage input is equipped with a low-pass filter (3 dB limit frequency, f = 470 Hz for voltage input, f = 250 Hz for current input)
6.1.2 Parameter setting
Short overview of parameters for the analog inputs:
6.1.3 Using the analog input as current input
The current source must be connected to the X3/A1I or X3/A2I plug connector.
Use C00034 (subcode /1 or /2), selection "1" or "2" to reconfigure the analog input to be a current input.
Tip!
The selection "2" serves to implement a 4 ...20 mA current loop, e.g. for speedsetpoint selection.
Open-circuit monitoring
Use C00598/1 to set an error response to an open circuit for the 4 ...20 mA current loop.
Parameter Information
C00026/1 Analog input 1: Offset
C00026/2 Analog input 2: Offset
C00027/1 Analog input 1: Gain
C00027/2 Analog input 2: Gain
C00034/1 Configuration of analog input 1, evaluation of current or voltage
C00034/2 Configuration of analog input 2, evaluation of current or voltage
C00598/1 Resp. to open circuit AIN1
C00598/2 Resp. to open circuit AIN2
C02732/1 Analog input 1: Dead band (in preparation)
C00028/1 Analog input 1: Voltage input signal
C00028/2 Analog input 2: Voltage input signal
C00029/1 Analog input 1: Current input signal
C00029/2 Analog input 2: Current input signal
C00033/1 Analog input 1: AIN1_nIn_a
C00033/2 Analog input 2: AIN2_nIn_a
Highlighted in grey = display parameter
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6.1.4 System block "LS_AnalogInput"
The system block LS_AnalogInput displays the analog inputs in the FB editor.
OutputData type
Value/meaning
nIn1_aC00033/1 | INT
Analog input 1 • Scaling:
±214 ≡ ±10 V for use as voltage input+214 ≡ +20 mA for use as current input
nIn2_aC00033/2 | INT
Analog input 2 • Scaling:
±214 ≡ ±10 V for use as voltage input+214 ≡ +20 mA for use as current input
bCurrentErrorIn1BOOL
Status signal "Current input error" • Only when analog input 1 is used as current input. • Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
True |IAIN1| < 4 mA
bCurrentErrorIn2BOOL
Status signal "Current input error" • Only when analog input 2 is used as current input. • Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
True |IAIN2| < 4 mA
X3
LS_AnalogInput
nIn1_a
nIn2_a
bCurrentErrorIn1
bCurrentErrorIn2
0
0
1
1
2
2
C00027/1
C00027/2
D
D
C00033/1
C00033/2
C00028/1
C00028/2
C00029/1
C00029/2
C00026/1
C00026/2
C00034/1
C00034/2
A
A
?
A1U
AR
A1I
A2
UA
2IG
AO
1UO
1IO
2UO
2I
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Analog outputs
6.2 Analog outputs
The controller is equipped with four analog outputs.
Two outputs provide an analog current signal (O1I, O2I)
Two outputs provide an analog voltage signal (O1U, O2U)
The output values of the system block are displayed in the Engineer / keypad
6.2.1 Terminal assignment/electrical data
Note!
Initialisation behaviour:
• After mains switching up to the start of the application, the analog outputs remain set to 0 V.
Exception handling:
• In case of a critical exception in the application (e.g. reset), the analog outputs are set to 0 V.
Terminal Use Electrical data
X3/O1UX3/O2U
Voltage output Level: 0 ... +10 V(max. 2 mA)
Resolution: 10 Bit (Error: 1 Digit ≡ 0.1 %, related to the final value)
Scaling: ±10 V ≡ ±214 ≡ 16384 ≡ ±100 %
Processing cycle 1 kHz (1 ms)
Limit frequency 315 Hz at -3 dB
Temperature influence ± 0.5 % or ± 1 mV/K (Tamb = - 10° C ... + 55° C)
X3
A1U
AR
A1I
A2
UA
2IG
AO
1UO
1IO
2UO
2I
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X3/O1IX3/O2I
Current output Level: 0 ... +20 mA
Resolution: 10 Bit (Error: 1 Digit ≡ 0.1 %, related to the final value)
Scaling: ±20 mA ≡ ±214 ≡ 16384 ≡ ±100 %
Processing cycle 1 kHz (1 ms)
Temperature influence ± 0.5 % or ± 1 mV/K (Tamb = - 10° C ... + 55° C)
X3/GA Reference potential (analog ground)
Terminal Use Electrical data
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Analog outputs
6.2.2 Parameter setting
Short overview of parameters for the analog outputs:
Parameter Information
C00434/1 Analog output 1: Gain of the voltage signal at nOut1U_a
C00434/2 Analog output 2: Gain of the current signal at nOut1I_a
C00434/3 Analog output 1: Gain of the voltage signal at nOut2U_a
C00434/4 Analog output 2: Gain of the current signal at nOut2I_a
C00435/1 Analog output 1: Offset of the voltage signal at nOut1U_a
C00435/1 Analog output 2: Offset of the current signal at nOut1I_a
C00435/1 Analog output 1: Offset of the voltage signal at nOut2U_a
C00435/1 Analog output 2: Offset of the current signal at nOut2I_a
C00436/1 Analog output 1: Output of voltage signal at the O1U terminal of the device
C00436/2 Analog output 2: Output of voltage signal at the O2U terminal of the device
C00437/1 Analog output 1: Output of current signal at the O1I terminal of the device
C00437/2 Analog output 1: Output of current signal at the O2I terminal of the device
C00439/1 Analog output 1: nOut1U_a; Input of voltage signal from application
C00439/2 Analog output 2: nOut2U_a; Input of voltage signal from application
C00439/3 Analog output 3: nOut1I_a; Input of current signal from application
C00439/4 Analog output 4: nOut2I_a; Input of current signal from application
Highlighted in grey = display parameter
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6.2.3 System block "LS_AnalogOutput"
The system block LS_AnalogOutput forms the interface to the analog outputs in the FBeditor.
InputData type
Information/possible settings
nOut1U_aINT
Analog output 1 • Scaling: ±214 ≡ 16384 ≡ ±10 V
nOut2U_aINT
Analog output 2 • Scaling: ±214 ≡ 16384 ≡ ±20 mA
nOut1I_aINT
Analog output 1 • Scaling: ±214 ≡ 16384 ≡ ±10 V
nOut2I_aINT
Analog output 2 • Scaling: ±214 ≡ 16384 ≡ ±20 mA
nOut2U_a
nOut2I_a
nOut1I_a
nOut1U_a
LS_AnalogOutput
C00434/2
C00434/4
C00434/3
C00434/1
C00439/2
C00439/4
C00439/3
C00439/1
C00436/2
C00437/2
C00437/1
C00436/1
C00435/2
C00435/4
C00435/3
C00435/1
?
X3
A1U
AR
A1I
A2
UA
2IG
AO
1UO
1IO
2UO
2I
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6.3 Digital inputs
The terminals DI1 ... DI7 of the plug connector X5 serve to detect digital signals.
All digital inputs can be set with a debounce time. See code C02830.
Setting the parameters of code C00115 enables you to evaluate the following digital inputsignals at the terminals DI1/DI2 and DI6/DI7:
Level evaluation for static input signals (DigIn)
Detection of the input frequency (FrqIn)
Detection and conditioning of two unipolar input frequencies (FrqIn2) to form one bipolar frequency
Frequency counter (CntIn)
Evaluation of the speed feedback (HTL encoder) for the motor control (speed-controlled operation)
Control input RFR of terminal strip X5 for controller enable is permanently connected tothe device control.
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6.3.1 Terminal assignment/electrical data
Terminal Use Electrical data
X5/DI1..X5/DI7
Digital input 1 ... 7 LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
Input current: 8 mA per input (at 24 V)
Electric strength of externalvoltage
Max. ± 30 V, permanent
Input impedance: 3.3 kΩ (2.5 Ω ... 6 kΩ)
Max. input frequency: 100 kHz (DI1/DI2)
10 kHz (DI6/DI7)
Processing cycle: 1 ms (can be changed by filtering via the software)
X5/24E External supply of the device and the following terminals: • DI1 ..... DI7 • RFR, and • control board and
bus module
DC 19.2 ... 28.8 V, IEC 61131-2, SELV/PELVCurrent consumption ≈ 0.6 AIn case of polarity reversal: No function and no destruction
X5/24I Internal supply of the terminals • DI1 ..... DI7 • RFR
Max. output current: 50 mA
X5/RFR Controller enable See digital inputs
X5/GIO Reference potential (digital ground)
X5
DI3
DI2
DI4
DI5
DI6
DI7
GI
24E
24I
DI1
RF
R
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6.3.2 Parameter setting
Short overview of parameters for the digital inputs:
Parameter Information
C00011 Reference speed of the drive
C00114 Inversion of the digital input
C00115/1 Function DI1 /DI2, 100 kHz
C00115/2 Function DI6/DI7, 10 kHz
C00420 Encoder increments at FreqIn12
C02830/1 ... /7 DI1 ... DI7: debounce time
C02843 FreqIn12: Gain
C00443/1 /2 Status: DIx terminal level / DIx output level
C02840 Status: Function
Highlighted in grey = display parameter
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6.3.3 System block "LS_DigitalInput"
The system block LS_DigitalInput displays the digital inputs in the FB editor.
When C00115/1 = 0 ... 4, the processing functions DigIn, FrqIn, FrqIn1, FrqIn2 and CountIn are assigned to the input signals at DI1 and DI2.
When C00115/2 = 0 ... 4, the processing functions DigIn, FrqIn, FrqIn1, FrqIn2 and CountIn are assigned to the input signals at DI6 and DI7.
The two other processing functions DigIn are permanently assigned to the digital input terminals DI3 ... DI5 of the terminal strip X5.
X5 C00115,Subcode:
C00115, value:
0 1 2 3 4
DI1 1 DigIn FrqIn FrqIn2, 2-track
evaluation
FrqIn1 CountIn
DI2 DigIn DigIn Direction DigIn
DI3 - independent of C00115, permanent assignment: DigInDI4
DI5
DI6 2 DigIn FrqIn FrqIn2, 2-track
evaluation
FrqIn1 CountIn
DI7 DigIn DigIn Direction DigIn
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0 t
C00420
C00420
C00443
C00443
C02842
C02842
C02842
C02843
C02843
C02843
C00443/2C02830
1
1
0
0
10kHz
10kHz
10kHz
10kHz
10kHz
C00443/1
C00011
C00011
C00011
C00420C00443/1
dwCountIn1_LoadStartValue
dwCountIn1_CompareValue
C00443/1
bCountIn1_Compare
C02840/1
C02840/2
bCountIn1_ResetCompare wCountIn1_HW
wCountIn1_LW
LS_DigitalInput
DigIn
DigIn
DigIn
DigIn
CountIn
FrqIn
FrqIn2
FrqIn1
CntIn
CntIn
FrqIn
FrqIn
FrqIn2
FrqIn2
FrqIn1
FrqIn1
DigIn
DigIn
C00115/1
C00115/2
C02841/1
nFreqIn12_a
nFreqIn12_a
nFreqIn12_a
nFreqIn12_v
nFreqIn12_v
nFreqIn12_v
bInx(x: DI ... DI )1 7
bCountIn1_LoadStartValue
C00114
0
1
DigIn
MCTRL_Speedfeedback
MCTRL_Speedfeedback
?
X5
DI3
DI2
DI4
DI5
DI6
DI7
GI
24E
24I
DI1
RF
R
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General digital inputs
Processing function DigIn ⏐ DigIn
When C00115/1 = 0 this processing function can be used at the terminals DI1 and DI2.
When C00115/2 = 0 this processing function can be used at the terminals DI6 and DI7.
As a total, 7 digital inputs DigIn1 ... DigIn7 can be parameterised. The debounce timeC02830/1...7 and the terminal polarity C00114 can be set for each processing function. Thestatus can be queried via code C00443 at the input and output of the processing function.
X = 1 ... 7 (for DI1 ... DI7)
OutputDIS code | data type
Value/meaning
bIn1C00443/1 | BOOL
...
Digital input DI1
bln7C00443/7 | BOOL
Digital input DI7
0 t
C00443/2C02830
10
C00443/1bInx
(x: DI ... DI )1 7
C00114
0
1
DigIn
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Frequency inputs
General information
Example for DI7 / DI7 (corresponding to the above note):
The frequency inputs available in the system block serve to detect
– HTL encoders with any number of increments.
– single or two-track signals. Single-track signals can be evaluated with or without rotation direction signal.
Processing function FrqIn⏐DigIn
When C00115/1 = 1, the processing function "FrqIn" at the terminal DI1 can be used.
When C00115/2 = 1, the processing function "FrqIn" at the terminal DI6 can be used.
Note!
• Ensure that the maximum input frequency of the following inputs is not exceeded during operation of the motor control with speed feedback:
– DI1 / DI2 ---> 100 kHz
– DI6 / DI7 ---> 10 kHz
• If the encoder signal is used as an actual speed value:Number of encoder pulses / revolution ≤ 8192!
• Number of encoder increments: 512 pulses / motor revolution
• Reference speed C00011: 1500 rpm
• Speed setpoint: 100 %
Result: • The speed is too high or • the number of increments is too high
OutputData type
Value/meaning
nFreqIn12_a INT
Output frequency as %-scaled analog signal
nFreqIn12_vINT
Output frequency as inc/ms speed signal
Input frequency1500rpm
60s------------------------ 512pulses×=
12800 pulses s⁄( )=
12,8 kHz=
C000420C00443
C02842C02843
10kHz
C00011FrqIn
nFreqIn12_a
nFreqIn12_v
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Processing function FrqIn1⏐Direction
When C00115/1 or C00115/2 = 3, DI1, DI2, DI6 and DI7 can be configured so that a single-track encoder signal can be evaluated. With this configuration, DI1/DI6 evaluates therotating direction of the encoder (0: clockwise direction of rotation) and DI2/DI7 therotational speed.
Processing function FrqIn2 (two-track)
When C00115/1 or C00115/2 = 2, a two-track encoder can be connected to the terminalsDI1/DI2 or DI6/DI7.
OutputData type
Value/meaning
nFreqIn12_aINT
Output frequency as %-scaled analog signal
nFreqIn12_vINT
Output frequency as inc/ms speed signal
OutputData type
Value/meaning
nFreqIn12_aINT
Output frequency as %-scaled analog signal
nFreqIn12_vINT
Output frequency as inc/ms speed signal
C00420
C00443
C02842C02843
10
10kHz
C00011
DigIn
FrqIn1
nFreqIn12_a
nFreqIn12_v
MCTRL_Speedfeedback
C02842C02843
10kHz
10kHz
C00011
C00420C00443/1
C00443/1
FrqIn2
nFreqIn12_a
nFreqIn12_v
MCTRL_Speedfeedback
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Counter input
Processing function CountIn
With the configuration C00115/1 or C00115/2 = 4, quick edges are counted at the terminalDI1 or DI6. Here, a 32-bit counter counts up to a comparison value and then sets an outputbit.
Note!
• Parameterise the "Starting value of the counting block ≤ comparison value" (otherwise the counter will be kept on its starting value since comparison takes place permanently, see explanation below).
• It is possible to measure very high pulse frequencies at the inputs DI1/DI2 or DI6/DI7 if a corresponding function (FreqIn, HTL encoder input, counter) is set for these inputs. Then the sampling takes place within a few μs instead of the otherwise usual sampling rate of 1 kHz (1 ms).
• Observe the maximum input frequencies of the above-mentioned inputs.
OutputDIS code | data type
Value/meaning
wCountIn1_HWC02841/1 | WORD
Counter, high word as non-standardised signal
wCountIn1_LWC02841/1 | WORD
Counter, low word as non-standardised signal
wCountIn1_CompareBOOL
Comparison value, see following description
10kHz
dwCountIn1_LoadStartValue
dwCountIn1_CompareValue
bCountIn1_Compare
C02840/1
C02840/2
bCountIn1_ResetCompare wCountIn1_HW
wCountIn1_LW
CountInC02841/1bCountIn1_LoadStartValue
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The following temporal characteristic shows the counting process depending on thesignals of the interfaces described before:
[6-1] Transient characteristic of a quick counter block, sampling cycle = 1 ms
The starting value is loaded if "value = 0". When the comparison valuedwCountin1_CompareValue, code C02840/2, is reached or exceeded, the counter returnsto its starting value. Starting value and comparison value are 32-bit parameters, the
maximum input range of which is 0 ... 231 - 1. The counter content can be picked off at theinterface of the LS_DigitalInput as a 16-bit value without sign for the HIGH and LOW wordeach. This serves to directly connect the current counter contents on the CAN bus. Whenthe comparison value is reached, bit bCount1_Compare changes its signal status from LOWto HIGH. The signal is then reset via an edge at the bCount1_ResetCompare. An edge at thebCountIn1_LoadStartValue input loads the current counter content of the LOW and HIGHword to the value in the dwCountIn1_StartValue parameter.
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Digital outputs
6.4 Digital outputs
The controller is provided with
three parameterisable digital outputs, terminal strip "X4"
a relay output, terminal strip "X101"
an output to control a brake ("high-current output"), terminal strip "X107".
6.4.1 Terminal assignment/electrical data
Note!
Initialisation behaviour:
• After mains switching up to the start of the application, the digital output remains set to FALSE.
Exception handling:
• In case of a critical exception in the application (e.g. reset), the digital output is set to FALSE considering the terminal polarity parameterised in C00118.
Operating cycle diagnosis
• Code C00445 serves to evaluate the mechanical wear and thus the exchange of the relay.
Terminal Use Electrical data
X4/DO1...X4/DO3
Digital output 1 LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
Output current: max. 50 mA per output (external resistance > 480 Ω at 24 V)
Processing cycle: 1 ms
X4/24E External 24 V voltage supply for, among other things, the digital outputs
X4/GIO Reference potential (digital ground)
X101/COM Relay output, common contact
Potential-free two-way switchAC 250 V / 3 ADC 24 V / 2 A ... 240 V / 0.16 AX101/NC Relay output, NC
contact
X101/NO Relay output, NO contact
X107/BD1 Brake, positive connection
X107/BD2 Brake, negative connection
X107/GB Brake, reference potential
X4
DO
124O
DO
2D
O3
GO
X101
NC
CO
MN
O
X107
GB
24B
BD
1B
D2
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Tip!
DC-injection braking allows the drive to be quickly braked to a standstill withoutthe need to use an external brake resistor.
DC-injection braking ( 153)
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Digital outputs
6.4.2 Parameter setting
Short overview of parameters for the digital outputs:
Parameter Information
C00118 Inversion of the output logic
C00423 Filter time / delay time
C00177 /2 Status: Switching cycles, output relay
C00444 Status: Digital outputs
C00445 Status: Switching operations of the relay up to that moment
Highlighted in grey = display parameter
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6.4.3 System block "LS_DigitalOutput"
In the FB editor, the system block LS_DigitalOutput is the interface to the digital output atthe front of the controller.
InputDIS code | data type
Information/possible settings
bOut1C00444/1 | BOOL
..bOut3
C00444/1 | BOOL
Digital output 1..Digital output 3
bOutHCC00444/1 | BOOL
Output for brake control
bRelayC00444/1 | BOOL
Relay output, potential-free two-way switch
LS_DigitalOutput
X4
X107
0
0
0
0
t
t
t
t
C00444/2
C00444/2
C00444/2
C00118
C00118
C00118
C00118
C00444/1
C00444/1
C00444/1
C00444/1
0
0
0
0
1
1
1
1
bOut1
bOut2
bOut3
bOutHC
NC
CO
MN
O
X101bRelay
0 t
C00423/1
C00423/3
C00423/5
C00423/7
C00423/9
C00118
0
1
C00444/1 C00444/2
Bit 1 Bit 1
Bit 2 Bit 2
Bit 3 Bit 3
Bit 4 Bit 4
Bit 0 Bit 0
Bit 1
Bit 2
Bit 3
Bit 0 C00445
?
DO
124O
DO
2D
O3
GO
GB
24B
BD
1B
D2
C00423/2
C00423/4
C00423/6
C00423/8
C00423/10
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Terminal pre-assignment
6.5 Terminal pre-assignment
6.5.1 Application "Actuating drive - speed"
Tip!
In the description of the technology application Actuating drive - speed you areinformed
• which signals have been pre-assigned to the terminals in the Lenze setting and
• how to assign different signals to the terminals.
6.5.1.1 Connection diagram in the Lenze setting
C0007 = 10 (terminals 0)
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
24E+=
DriveFail
CG
CL
CH
X1
DriveReady
Controller enable
Externalsupply
24 V DC
Fixed setpoint 1Fixed setpoint 2
DC brakection of rotation CCw Actual spee
Speed setpo
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C0007 = 12 (terminals 2)
C0007 = 14 (terminals 11)
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Quickstopction of rotation Ccw
DriveReady
Actual speed valu
Speed setpoint
Controller enableFixed setpoint 1Fixed setpoint 2
Externalsupply
24 V DC
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Controller enableDirection of rotation Ccw
DC brake activeSpeed higherSpeed lower
DriveReady
Actual speed valu
Speed setpoint
Motorpotentiometer
Externalsupply
24 V DC
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Terminal pre-assignment
C0007 = 20 (keypad)
C0007 = 21 (PC)
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
SAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning
C2/1C7C728C11C12C13C15C16C22C87C89C39/1C727/3C727/4C51C54
DriveFail
+=
CG
CL
CH
X1
Engineer: Keypad:
Actual speed value
Controller enable
DriveReady
Externalsupply
24 V DC
All parameters
Quick commissioning
Terminal
Keypad
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Actual speed valu
Controller enable
DriveReady
Externalsupply
24 V DC
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C0007 = 30 (CAN)
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
CG
CL
CH
X1
DriveFail
+=
CanIn1
CanOut1
DriveControlStatus
MainSetValue
MotorSpeedActMotorSpeedSet
CANDriveControl
CanIn2 / 3
CanOut2 / 3
DriveReady
Actual speed value
Speed setpoint
Controller enableQuickstop
Externalsupply
24 V DC
pos. directionManualJog neg. direction
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Terminal pre-assignment
C0007 = 40 (MCI)
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
CG
CL
CH
X1
MciIn
MciOut
DriveControlStatus
MainSetValue
4 ...16
MotorSpeedActMotorSpeedSet
DriveFail
+=
3 ...16
MciDriveControl
DriveReady
Actual speed value
Speed setpoint
Controller enableQuickstop
Externalsupply
24 V DC
pos. directionManualJog neg. direction
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6.5.2 Application "Table positioning"
Tip!
In the description of the technology application Table positioning you are informed
• which signals have been pre-assigned to the terminals in the Lenze setting and
• how to assign different signals to the terminals.
Control source: Terminals 0, C7 = 10
X5
A2I
AR
COM
CG
A1U
NC
CL
A2UA1I
NO
CH
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
MBrakeReleaseOut
X101
X1
24E
+
+
=
=
+
DriveFail
DriveReadyLoad mechanicals in target pHome position known
Controller enable
Externalsupply
24 V DC
pos. directionneg. direction
Bit 2Bit 1
Start profile generation
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Speed setpoint
Limit switch
Profile no. 0 ... 3
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Terminal pre-assignment
Control source: Terminals 2, C7 = 12
Control source: Terminals 11, C7 = 14
X5
A2I
AR
COM
CG
A1U
NC
CL
A2UA1I
NO
CH
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
X1
24E
+
M
==
+
DriveFail
+=
MBrakeReleaseOut
DriveReady
Speed setpoint
Controller enable
Externalsupply
24 V DC
Actual speed value (I)Actual motor current value (VActual motor current value (I
Bit 2Bit 3
Bit 1Start profile generation
Profile no. 0 ... 7
Load mechanicals in target pHome position known
CG
CL
CH
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X1
+
M
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
+
==
DriveFail
+=
MBrakeReleaseOut
Controller enable
DriveReady
Speed setpoint
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Bit 2Bit 3
Bit 1Start profile generation
Profile no. 0 ... 7
pos. directionneg. direction
Limit switch
Load mechanicals in target pHome position known
8400 HighLine C | Software ManualI/O terminalsTerminal pre-assignment
208 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Control source: Keypad, C7 = 20
Control source: PC, C7 = 21
CG
CL
CH
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X1
+
M+
==
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
SAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning
C2/1C7C728C11C12C13C15C16C22C87C89C39/1C727/3C727/4C51C54
DriveFail
+=
MBrakeReleaseOut
Controller enable
DriveReady
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (V)Actual motor current value (I)
Load mechanicals in target positionHome position known
Engineer: Keypad:
All parameters
Quick commissioning
Terminal
Keypad
CG
CL
CH
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X1
+
M+
==
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
MBrakeReleaseOut
Controller enable
DriveReady
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Load mechanicals in target pHome position known
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8400 HighLine C | Software ManualI/O terminals
Terminal pre-assignment
Control source: CAN, C7 = 30
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
+
M
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
+
==C
GC
LC
H
X1C
AN
1_
In
CA
N1
_O
ut
CAN2/3_In/Out
CanDriveControl
MainSetValue
DriveControlStatus
MotorSpeedAct
MotorSpeedSet
DriveFail
+=
MBrakeReleaseOut
DriveReady
Speed setpoint
Controller enable
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
pos. directionneg. direction
Reference switch statusQuickstop
Limit switch
Load mechanicals in target pImax status
8400 HighLine C | Software ManualI/O terminalsTerminal pre-assignment
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Control source: MCI, C7 = 40
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
+
M
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
+
==C
GC
LC
H
X1M
ci1
_In
Mci1
_O
ut
Mci2/3_In/Out
MciDriveControl
MainSetValue
DriveControlStatus
MotorSpeedAct
MotorSpeedSet
DriveFail
+=
DriveReady
MBrakeReleaseOut
Controller enable
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
pos. directionneg. direction
Reference switchQuickstop
Limit switch
Load mechanicals in target pImax status
Speed setpoint
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8400 HighLine C | Software ManualEncoder evaluation
7 Encoder evaluation
When does the open-circuit monitoring system respond?
The open-circuit monitoring system responds if
an open circuit occurs in the encoder cable.
an extreme overload (e.g. blocked motor shaft) occurs during the start-up phase of the motor
the motor is highly dynamically reversed.
Which measured values lead to an actuation of the open-circuit monitoring system?
The following measured values checked for plausibility lead to an actuation of the open-circuit monitoring system:
1. If the total deviation between actual speed and setpoint speed is higher than f = 40 Hz for a time > 0.1 s .
2. If the actual speed detected is f = 0 Hz or n = 0 rpm and the Imax controller or the torque limitation for servo control is active for t ≥ 0.1 s.
3. If the sign of the injected frequency and the actual speed is not the same, the Imax controller is active and this status is active for 0.1 s. Usually this is the case when the A/B tracks are reversed.
Selecting the response to an open circuit in the encoder cable
If required, the following reactions can be parameterised under C00586:
"Fault", operating status change through pulse inhibit of the power output stage, see Device state machine ( 56) (Lenze setting)
"No reaction", reaction deactivated
"Warning", operating status of controller remains unchanged. Only a message will be indicated, see Device state machine ( 56).
Danger!
• To avoid interferences when using an encoder only use shielded motor and encoder cables.
• Observe the maximum input frequencies of the digital inputs Digital inputs ( 187)
Note!
In the Lenze setting (e.g. when the device is delivered), the open-circuit monitoring of the encoder (C00586) is activated.
8400 HighLine C | Software ManualEncoder evaluationParameter setting for the motor encoder
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7.1 Parameter setting for the motor encoder
For speed monitoring the feedback signal can be supplied via an HTL encoder at the digitalinput terminals (DI1/DI2 or DI6/DI7).
A click on the "Encoder/feedback system" button, see , opens a dialog which serves toselect the encoder system and set the number of encoder increments.
Tip!
The "Encoder/feedback system" button can be found via the following path:
• Select the "Application parameters" tab
• Click the motor pictograph --> the parameter dialog containing the corresponding button opens, see below screenshot.
Parameter setting
Parameter Information
C00006 Set this code to a motor control operating mode with feedback
C00115/1C00115/2
Set this code to 2, 3 or 4Lenze recommendation: Set "3" • Value "3":
Enables two-track encoder evaluation with correct direction of rotation detection. • Value "2" or "4":
For single-track evaluation, make sure that the sign is correct. Otherwise, the motor may overspeed.
The output signals bIn1 and bIn2 at System block "LS_DigitalInput" ( 190) automatically change to FALSE.
C00420/1C00420/2
Encoder increments (e.g. 256 pulses/revolution) at the terminals • X4/DI1 or X4/DI2 • X4/DI6 or X4/DI7
C00425/1C00425/2
Scan time of encoder,only relevant, if edge counting has been selected with C00496 = 3
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8400 HighLine C | Software ManualEncoder evaluation
Parameter setting for the motor encoder
C00490 Source of feedback signal for position control
C00495 Source of feedback signal for speed control
C00496 Selection of encoder evaluation method
C00497/1C00497/2
Filter time of speed measuring device
C01206/1C01206/2
Mounting direction of motor and encoder
Parameter Information
8400 HighLine C | Software ManualEncoder evaluationEncoder evaluation method
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7.2 Encoder evaluation method
Depending on the encoder used, the following table specifies which evaluation methodshould be selected under code C00496:
Setting Method Description
C00496 = 0 High-resolution method for encoders with a high number of increments
• Method for speed measurement with automatic scan time setting (0.5 … 500 ms)
• Evaluation with automatic scan time minimisation for an optimum dynamic performance
• Particularly suited for high-resolution encoders (≥ 1024 inc) with good signal quality, i.e.– good scanning ratio 1:1– exactly 90°-phase offset between track A and B (error ≤ ± 10°)
• Not suited for encoders with poor signal quality • Wiring according to EMC (e.g. motor and encoder cable shielding) is
required
C00496 = 1 Low-resolution method (StateLine) for encoders with a low number of increments
• Exact method for speed measurement with automatic scan time setting (0.5 … 500 ms) for low-resolution encoders in the range of 4 …. 128 increments
• Evaluation with automatic scan time minimisation for an optimum dynamic performance
• Method is also suited for encoders with poor signal quality, e.g. for encoders with high error rate in scanning ratio and phase offset.
• This method requires an equidistant period length per encoder increment.
• Wiring according to EMC (e.g. motor and encoder cable shielding) is required
C00496 = 2 Combined method for all increments(Lenze setting)
• Combination of methods C00496 = 0 and C00496 = 1 for high-precision speed measurement for encoders with any number of increments (4 … 1024 increments).
• Low input frequencies at DIGIN 1/2: Use low-resolution method ( C00496 = 1)
• High input frequencies at DIGIN 1/2: Use high-resolution method ( C00496 = 0)
• This method is suited for encoders with average to good signal quality • Evaluation with automatic scan time minimisation for an optimum
dynamic performance • This method requires an equidistant period length per encoder
increment. • Wiring according to EMC (e.g. motor and encoder cable shielding) is
required
C00496 = 3 Edge counting • Method with adjustable scan time (fixed scan time can be set under C00425/1)
• Speed measurement by means of the edges of tracks A and B measured per scanning interval
• Integrated correction algorithm for EMC interference • Limited suitability for systems with unshielded encoder and/or motor
cable • Limited suitability for encoders with poor signal quality, i.e. high error
rate in scanning ratio and phase offset.
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8400 HighLine C | Software ManualEncoder evaluation
Encoder evaluation method
Tip!
• Recommended setting of code C00496 = 2.
• For dynamic applications (e.g. servo control mode), use the methods set with C00496 = 0, 1, 2.
• For dynamic speed control or positioning processes, use an HTL encoder with 1024 increments.
• The wiring diagram and the assignment of the input terminal can be found in the 8400 Hardware Manual.
• The Hardware Manual is available in electronic form on the CD supplied with the 8400 frequency inverter.
8400 HighLine C | Software ManualEncoder evaluationEncoders with HTL level at X4/DI1 or X4/DI2
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7.3 Encoders with HTL level at X4/DI1 or X4/DI2
7.3.1 Signal flow
Note!
At the digital terminal X4/DI1 or X4/DI2, only encoders with HTL level can be used.
Even if the operating mode without encoder feedback is selected, the actual speed value (C00051) will be calculated, if
• an encoder is connected, and
• an encoder has been selected under code C00495 ("speed encoder selection") with the value "1".
nMotorSpeedActC51/0
2
01
2
01
C497/1C497/2
100 kHz
10 kHz
C495
C490
C496
DIGIN 1/2
DIGIN 6/7
bSetMotorPostionRefC833/68dnMotorPosRefValueC833/6
dnMotorPosAct
dnMotorPosAct_a
Encoder interface
Motor encoderselection
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8400 HighLine C | Software ManualEncoder evaluation
Encoders with HTL level at X4/DI1 or X4/DI2
Low speeds (except for edge counting)
For the methods with C00496 = 0, 1 or 2, the minimum speed that can be measureddepends on the encoder PPR.
The quantisation error
is independent of the encoder PPR
exclusively depends on the encoder quality (encoder errors)
is minimally 0.5 rpm.
For a maximum dynamic performance, the scan time is automatically kept at theminimum value required through internal arithmetic operations.
Low speeds with edge counting
With edge counting (C00496 = 3) , the minimum speed that can be measured and thequantisation error of the speed measurement depend on
the adjustable scan time and
the encoder resolution.
Select the scan time according to accuracy and dynamic requirements:
all values in [1/min]
Number of encoder increments C00420/1
Minimum speed [rpm]
8 16
16 8
32 4
64 2
128 1
256 0.5
≥ 512 0.25
Scan time [ms]
Encoder resolution (increments) 1 2 5 10 20 50 100 200 500 1000
8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9
16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9
32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5
64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2
128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12
256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06
512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03
1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01
8400 HighLine C | Software ManualEncoder evaluationEncoder with HTL level at X4/DI6 or X4/DI7
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7.4 Encoder with HTL level at X4/DI6 or X4/DI7
7.4.1 Signal flow
Low speeds with edge counting
The speed measurement is evaluated at terminals X4/DI6 and X4/DI7 via edge countingwith a fixed, adjustable scan time.
With edge counting, the minimum speed that can be measured and the quantisation errorof the speed measurement depend on
the adjustable scan time and
the encoder resolution.
Select the scan time according to accuracy and dynamic requirements:
Maximum speeds with edge counting
Due to the lower input frequency (max. 10 kHz) compared to terminals X4/DI1 and X4/DI2,operation at maximum speed at the input terminals X4/DI6 and X4/DI7 is limited, seeDigital inputs ( 187).
Scan time [ms]
Encoder resolution (increments) 1 2 5 10 20 50 100 200 500 1000
8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9
16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9
32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5
64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2
128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12
256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06
512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03
1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01
Number of encoder increments C00420/1
Maximum speed that can be measured [rpm]
8 No restrictions
16 37500
32 18750
64 9375
128 4688
256 2344
512 1172
C497/2
10 kHz
C420/2C425/2
DIGIN 6/7
nFreqIn67_a
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8400 HighLine C | Software ManualSystem bus "CAN on board"
8 System bus "CAN on board"
The controller has an integrated CANopen system bus interface ("CAN on board") forprocess and parameter data exchange between different devices and the connection ofadditional modules such as distributed terminals, keypads and input devices ("HMIs") aswell as external controls.
In the »Engineer« parameter list and in the keypad, category CAN, you can find the parameters relevant for the CANopen system bus interface classified in different subcategories.
Note!
Information on CAN communication modules and CANopen system bus interfaces of other Lenze controllers can be found on the Lenze homepage and in the "CAN" communication manual available in the Lenze library.
8400 HighLine C | Software ManualSystem bus "CAN on board"Features
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8.1 Features
For many years, the system bus (CAN) based on the CANopen communication profile hasbeen integrated in Lenze inverters. Due to the lower number of data objects available, thefunctionality and compatibility of the previous system bus are lower as compared toCANopen. For parameter setting, two parameter data channels are always available to theuser while CANopen provides only one active parameter channel.
The system bus (CANopen) has the following features:
The system bus (CAN) provides full compatibility with CANopen DS301, V4.02.
The NMT slave function Heartbeat (DS301, V4.02) is supported.
2 server SDO channels with 1 to 8 bytes
– Because of the 2 server SDO channels, the address range from 1 to 63 is available.
Number of parameterisable PDO channels:
– Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
– Max. 3 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
All PDO channels are functionally equivalent.
Sync signal generation
Monitoring of the RPDOs for data reception
Telegram counters for SDOs and PDOs
CAN bus status diagnostics
Generation of a CAN reset node NMT telegram at master configuration
All "CAN on board" functions can be parameterised via codes.
Adjustable error response to ...
– physical CAN errors (frame, bit, ACK error)
– bus-stop, bus working
– absent PDOs
Sending and receiving PDOs (time-, event-, sync-controlled)
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8400 HighLine C | Software ManualSystem bus "CAN on board"
Features
CANopen-specific functions
Object directory (all mandatory functions, optional functions, indexes)
Boot-up telegram generation
Emergency telegram generation
Abort codes
Heartbeat function (producer and consumer protocol)
Response to sync telegrams (transmit/receive data; for HighLine and also synchronisation to device-internal time base)
Protocols
Standard PDO protocol Write and read
SDO protocols SDO download • "Initiate SDO download" • "Download SDO segment"
SDO upload • "Initiate SDO upload" • "Upload SDO segment"
Abort SDO transfer
SDO block download • "Initiate block download" • "Download block" • "End download block"
SDO block upload • "Initiate block upload" • "Upload block" • "End upload block"
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication protocol (slave)
Heartbeat producer protocol Producers and consumers • StateLine: Up to 7 heartbeat producers can be monitored. • HighLine: Up to 15 heartbeat producers can be monitored.
Emergency
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8.2 General data and application conditions
Range Values
Communication profile CANopen, DS301 V4.02
Communication medium DIN ISO 11898
Network topology Line terminated at both ends
Adjustable node address 1 ... 63 (adjustable via DIP switch or code)
Max. number of nodes 63
Baud rate [kbps] • 50 • 125 • 250 • 500 • 800 (only with HighLine) • 1000 (only with HighLine)Adjustable via DIP switch or code
Process data • Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable) • Max. 3 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
Transfer mode for TPDOs • With change of data • Time-controlled, 1 to x ms • After the reception of 1 to 240 sync telegrams
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8400 HighLine C | Software ManualSystem bus "CAN on board"
Communication time
8.3 Communication time
Tip!
The communication time is the time between the start of a request and the arrivalof the corresponding response.
The CAN communication times depend on:
• Processing time in the frequency inverter
• Telegram run time (baud rate / telegram length)
• Bus load (especially if the bus is charged with PDOs and SDOs at a low baud rate)
Processing time in the 8400 frequency inverter
No dependencies exist between parameter data and process data.
Parameter data:
– Approx. 5 ms (typical)
– For parameters concerning the motor control (e.g. C00011), the processing time may be up to 30 ms.
Process data: 1 ms
8400 HighLine C | Software ManualSystem bus "CAN on board"Possible settings via DIP switch
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8.4 Possible settings via DIP switch
[8-1] DIP switch
Lenze setting: All DIP switches are in the "OFF" position
Tip!
The current DIP switch settings are displayed in code C00349.
Bit 15 indicates that the setting of the DIP switches has been accepted when thedevice or the 24 V supply has been switched on.
8.4.1 Activation of the bus terminating resistor
The CAN bus must be terminated between CAN low and CAN high at the first and lastphysical node each by a resistor (120 Ω). The 8400 frequency inverter is provided with anintegrated bus terminating resistor, which can be activated via the unlabelled DIP switch.
Switch position ():
OFF = bus terminating resistor is inactive
ON = bus terminating resistor is active
Switch position:
The following can be set via the front panel DIPswitches:
Bus terminating resistorPosition:
Baud rateArea: "Baud"Positions: "a" to "d"
Node addressArea: "CAN Address"Positions: "1" to "64"
Baud CAN Address
ON cd b a 64 32 16 8 4 2 1
�
OFF
ON
Note!
• The DIP switch settings are accepted if at least one DIP switch setting for the node address (1 ... 63) is unequal zero when the device or the 24 V supply is switched on.
• If the DIP switch setting is zero when the device or the 24 V supply is switched on, the setting of the baud rate and node address are read out of the parameter set/parameter.
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8400 HighLine C | Software ManualSystem bus "CAN on board"
CAN signalling on the controller front panel
8.4.2 Setting the baud rate
The baud rate can be set via code C00351 or with the DIP switches a to d:
8.4.3 Setting the node address
The node address can be set via code C00350 or with the DIP switches 1 to 64.
The labelling on the housing corresponds to the values of the individual DIP switches for determining the node address.
Valid address range: 1 to 63
Example: Setting of the node address 23
8.5 CAN signalling on the controller front panel
DIP switch positions Baud rate Information
d c b a
OFF OFF ON ON 50 kbps
OFF OFF ON OFF 125 kbps
OFF OFF OFF ON 250 kbps
OFF OFF OFF OFF 500 kbps
ON ON ON OFF 800 kbps • Baud rates are not available for 8400 StateLine. The positions of the DIP switches c and d have no effect.
• Baud rates are only valid for 8400 HighLine.
OFF ON OFF OFF 1000 kbps
Note!
• The addresses of the nodes must differ from each other.
• All DIP switches 1 ... 64 = OFF (Lenze setting):
– At switching on, the settings under code C00350 (node address) and C00351 (baud rate) will become active.
DIP switch 64 32 16 8 4 2 1
Switch position OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Node address = Sum of the values = 16 + 4 + 2 + 1 = 23
CAN-RUN: Signals the CANopen state
CAN-ERROR: Signals a CANopen error
CAN-RUNCAN-ERROR
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Frequency of the display CAN signalling and meaning
Permanently red CAN-Run: -, CAN-Error: bus off
Flashes Automatic detection of baud rate is active
Green blinks every 0.2 s CAN-Run: pre-operational, CAN-Error: -
Green blinks every 0.2 sRed blinks 1 time, 1 s off
CAN-Run: pre-operational, CAN-Error: warning limit reached
Green blinks every 0.2 sRed blinks 2 times, 1 s off
CAN-Run: pre-operational, CAN-Error: node guard event
Permanently green CAN-Run: operational, CAN-Error: -
Permanently greenRed blinks 1 time, 1 s off
CAN-Run: operational, fault: warning limit reached
Permanently greenRed blinks 2 times, 1 s off
CAN-Run: operational, CAN-Error: node guard event
Permanently greenRed blinks 3 times, 1 s off
CAN-Run: operational, CAN-Error: sync message error
Green blinks every 1 s CAN-Run: stopped, CAN-Error: -
Green blinks every 1 sRed blinks 1 time, 1 s off
CAN-Run: stopped, CAN-Error: warning limit reached
Green blinks every 1 sRed blinks 2 times, 1 s off
CAN-Run: stopped, CAN-Error: node guard event
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8400 HighLine C | Software ManualSystem bus "CAN on board"
General information on data transfer
8.6 General information on data transfer
All Lenze drive and automation systems are equipped with an integrated system businterface for the networking of control components on field level.
Via the system bus interface, for instance process data and parameter values can beexchanged between the nodes. In addition, the interface enables the connection ofadditional modules such as distributed terminals, keypads and input devices or externalcontrols and host systems.
The system bus interface transfers CAN objects following the CANopen communicationprofile (CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN inAutomation) in conformity with the CAL (CAN Application Layer).
8.6.1 Structure of the CAN data telegram
[8-2] Basic structure of the CAN telegram
Tip!
Identifier and user data are described in detail in the following chapters. The other signals refer to the transfer characteristics of the CAN telegram. These instructions do not describe them in detail. For more information, please go to the homepage of the CAN user organisation CiA (CAN in Automation) http://www.can-cia.org .
Node address (node ID)
Each node of the system bus network must be assigned to a node address (also called nodeID) within the valid address range (1 to 63) for unambiguous identification.
A node address may not be assigned more than once within a network.
The node address of the drive can be configured using the DIP switches or code C00350.
9400CAN016
Start RTR bit
Control field
CRC sequence
CRC delimit. ACK delimit.
ACK slot End
Identifier User data (0 … 8 bytes)
Network managementProcess dataParameter data
1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
Start RTR bit
Control field
CRC sequence
CRC delimit. ACK delimit.
ACK slot End
Identifier User data (0 … 8 bytes)
Network managementProcess dataParameter data
1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
Start RTR bit
Control field
CRC sequence
CRC delimit. ACK delimit.
ACK slot End
Identifier User data (0 … 8 bytes)
Network managementProcess dataParameter data
1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
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Identifier
The principle of the CAN communication is based on a message-oriented data exchangebetween a transmitter and many receivers. All nodes can transmit and receive quasi-simultaneously.
The identifier, also called COB-ID (Communication Object Identifier), is used to controlwhich node is to receive a sent message. In addition to the addressing, the identifiercontains information on the priority of the message and the type of the user data.
The identifier consists of a basic identifier and the node address of the node to beaddressed:
Identifier (COB-ID) = basic identifier + node address (node ID)
Exception: For process data, heartbeat/emergency objects, NMT telegrams and synctelegrams, the identifier is assigned freely by the user (e.g. manually or automatically viathe network configurator) or it is firmly allocated.
Identifier assignment
The CAN bus system is message-oriented. Each message has an unambiguous identifier.For CANopen, node-oriented transfer is achieved by the fact that there is only onetransmitter for each message.
The identifier assignment is specified in the CANopen protocol.
In accordance with the CANopen specification, the basic identifier is preset in the factoryto the following values:
1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same COB-ID.
Object Direction Lenze-Base-ID CANopen-Base-ID
from the drive
to the drive dec hex dec hex
NMT 0 0 0 0
Sync 1) 128 80 128 80
Emergency 1) X 128 80 128 80
PDO1 (Process data channel 1)
TPDO1 X 384 180 384 180
RPDO1 X 512 200 512 200
PDO2 (Process data channel 2)
TPDO2 X 640 280 640 280
RPDO2 X 641 281 768 300
PDO3 (Process data channel 3)
TPDO3 X 768 300 896 380
RPDO3 X 769 301 1024 400
SDO1 (Parameter data channel 1)
TSDO1 X 1408 580 1408 580
RSDO1 X 1536 600 1536 600
SDO2(Parameter data channel 2)
TSDO2 X 1472 5C0 1472 5C0
RSDO2 X 1600 640 1600 640
Heartbeat X 1792 700 1792 700
Boot-up X 1792 700 1792 700
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User data
The nodes communicate with each other by exchanging data telegrams via the CAN bus.
The user data range of the CAN telegram contains network management data, parameterdata or process data:
Network management data (NMT data)
– Control information on start, stop, reset, etc. of communication to certain or all nodes of the CAN network.
Process data (PDO, Process Data Objects)
– Process data are transferred via the process data channel.
– Process data can be used to control the frequency inverter.
– Process data are not saved on the frequency inverter, e.g. as parameter sets.
– Process data are transferred between host system and frequency inverters to ensure a continuous exchange of current input and output data.
– Process data usually are unscaled/scalable raw data
– Process data are, for instance, setpoints and actual values.
– The exact meaning of the PDO file contents is determined via the function block editor (FB interconnection) in the I/O level of the 8400 frequency inverter or via the PDO mapping.
Parameter data (SDO, Service Data Objects)
– Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.
– Parameters are, for instance, used for one-off plant setting during commissioning or when the material is changed on a production machine.
– Parameter data are transmitted as SDOs via the parameter data channel. They are acknowledged by the receiver, i.e. the transmitter gets a feedback about the transmission being successful or not.
– The parameter data channel enables access to all Lenze codes and CANopen indexes.
– Parameter changes can be saved in the parameter set of the frequency inverter.
– In general, the parameter transfer is not time-critical.
– Parameter data are, for instance, operating parameters, diagnostic information and motor data as well as control information on the interconnection of function blocks in the I/O level of the 8400 frequency inverter.
8.6.2 Communication phases of the CAN network (NMT)
Regarding communication, the drive distinguishes between the following states:
Status Explanation
"Initialisation"(Initialisation)
Initialisation starts when the frequency inverter is switched on. In this phase, the drive does not take part in the bus data transfer.Furthermore, it is possible in each NMT status to restart the entire initialisation or parts of it by transferring different telegrams (see "Status transitions"). In this case, all CAN-relevant parameters are overwritten with their default values.After initialisation has been completed, the drive is automatically set to the "pre-operational" status.
"Pre-operational"(before being ready for operation)
The drive can receive parameter data.Process data are ignored.
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"Operational"(ready for operation)
The drive can receive parameter data and process data.
"Stopped"(stopped)
Only network management telegrams can be received.
Communication object Initialisation Pre-operational Operational Stopped
PDO X
SDO X X
Sync X X
Emergency X X
Boot-up X
NMT X X X
Status Explanation
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Status transitions
[8-3] Status transitions in the CAN network (NMT)
E82ZAFU004
(3)
(11)
(10)
(9)(8)
(6)
(7)
(5)(4)
(2)
(1)
(13)
(12)
(14)
Initialisation
Pre-Operational
Stopped
Operational
Status transition Command Network status after change
Effects on process/parameter data after status change
(1) - Initialisation Initialisation starts automatically when the mains is switched on.During initialisation, the drive does not take part in the data transfer.After the initialisation is completed, the node sends a boot-up message with an individual identifier and automatically changes to the "pre-operational" status.
(2) - Pre-operational In this phase, the master determines the way in which the frequency inverter(s) takes/take part in the communication.
From that moment on, the master changes the states for the whole network. A target address, which is part of the NMT command, specifies the receiver(s). If the 8400 frequency inverter has been configured to be a master, the status automatically changes to "operational" after the waiting time (C00356/1) has elapsed, and the NMT command 0x0100 CAN start remote node ( 233) is sent to all nodes.
(3), (6) 0x01 xx Operational Network management telegrams, sync, emergency, process data (PDOs) and parameter data (SDOs) are active (corresponds to "start remote node")Optional:When the status is changed, event and time-controlled process data (PDOs) are sent once.
(4), (7) 0x80 xx Pre-operational Network management telegrams, sync, emergency and parameter data (SDOs) are active (corresponds to "enter pre-operational state")
(5), (8) 0x02 xx Stopped Only network management telegrams can be received.
(9) 0x81 xx Initialisation Initialisation of all CAN-relevant parameters (CiA DS 301) with the stored values (corresponds to "reset node")
(10)
(11)
(12) 0x82 xx Initialisation of all CAN-relevant parameters (CiA DS 301) with the stored values (corresponds to "reset communication")(13)
(14)
xx = 0x00: With this assignment, all devices connected are addressed by the telegram. The status can be changed for all devices at the same time.
xx = node ID: If a node address is indicated, the status will only be changed for the device addressed.
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Network management (NMT)
The network management telegram contains the identifier (always "0") and the command,which is included in the user data and consists of the command byte and the node address:
[8-4] Telegram for changing the communication phases
The change-over of the communication phases for the entire network is carried out by onenode, the network master. The network master can also be a frequency inverter, see CANstart remote node ( 233).
With a certain delay after power-on, a telegram is sent once that changes the status of thewhole drive system to "operational". The delay time can be set under code C00356/1.
command specifier
cs
COB-ID = 0
210
Node-IDRequest Indication
NMT-Master NMT-Slave
CS Service
1 Start_Remote_Node
2 Stop_Remote_Node
128 Enter_Preoperational-State
129 Reset_Node
130 Reset_Communication
Note!
A change in master/slave operation will only become effective
• after power-on of the frequency inverter
or
• if the NMT telegram reset_node or reset_communication is sent to the frequency inverter.
As an alternative to the NMT telegram reset_node, the controller command C00002/26 = 1: "On / Activate" can be used for reinitialising the CAN-specific device parameters.
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8.6.3 CAN start remote node
If the initialisation of the system bus and the associated status change from "pre-operational" to "operational" is not effected by a superimposed host system, the frequencyinverter can instead be defined to be a "quasi" master to execute this task.
The configuration is carried out via code C00352.
By means of the NMT telegram "start remote node", the frequency inverter sets all nodesto the "operational" NMT status (broadcast telegram).
The master function is only required for the initialisation phase of the drive system. Themaster's boot-up time for the initialisation phase can be set under C00356/1.
Data can only be exchanged via process data objects if the status is "operational".
Note!
After receipt of a reset node command, the frequency inverter designated to be the master does not send a "reset node NMT" to all devices, but only the "start remote node NMT".
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8.7 Process data transfer
[8-5] PDO data transfer from / to the higher-level host system
Definitions
Process data telegrams between host and drive are distinguished as follows:
– Process data telegrams to the drive (RPDO)
– Process data telegrams from the drive (TPDO)
The CANopen process data objects are designated as seen from the node's view:
– Receive PDO (RPDOx): process data object received by a node
– Transmit PDO (TPDOx): process data object sent by a node
8.7.1 Available process data objects
The following process data object are available:
3 RPDOs
3 TPDOs
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8.7.2 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner.The below table shows that it is possible to combine the different methods by means oflogic operations (AND, OR):
Event-controlledThe PDO is sent when a special device-internal event has occurred, for instance when the data contents of the TPDO have changed or when a transmission cycle time has elapsed
Synchronous transmissionA TPDO (or RPDO) is transmitted (or received) after the device has received a sync telegram (COB-ID 0x80).
Cyclic transmissionThe cyclic transmission of PDOs takes place when the transmission cycle time has elapsed.
Polled via RTRA TPDO is transmitted when another device requests it by means of a data request telegram (RTR remote transmit request). For this purpose, the data requester (e.g. the master) sends the data request telegram with the COB-ID of the TPDO requested to be sent. The receiver recognises the RTR and transmits the corresponding PDO.
The transmission type for each PDO can be selected freely and independently of thesettings for other PDOs:
Code C00322 for TPDOx
Code C00323 for RPDOx
Transmission type PDO transmission Logic combination of different transmission typescyclic synchronous Event-controlled
0 X X AND
1...240 X -
254, 255 X X or
Transmission type Description
0 Event-controlled:The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change occurs in the PDO).
1...240 Sync-controlled (with response): • Selection n = 1: The PDO is transmitted with every sync. • Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.
241 ... 251 Reserved
252, 253 RTR controlled
254, 255 Event-controlled with cyclic transmission:If this value is entered, the PDO transmission is event-controlled or cyclic.(Note: The values "254" and "255" have the same meaning).For a cyclic transmission, a cycle time must be entered for the respective PDO. In this case, cyclic transmission takes place in addition to event-controlled transmission.
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8.7.3 Cyclic process data objects
With cyclic transmission, one or several PDOs are sent or received at fixed intervals. Thesynchronisation of cyclic process data is described in the following.
Note!
• The transmission type for TPDOs can be set under
– I-180x/2 (CANopen)
– C00322 (code)
• The transmission type for RPDOs can be set under
– I-140x/2 (CANopen)
– C00323 (code)
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Synchronisation of PDOs with sync-controlled transmission
A special telegram, the sync telegram, is used to enable the frequency inverters to read oraccept the synchronous process data.
The sync telegram is the trigger point for the transmission of process data from thefrequency inverters to the master and for the acceptance of process data from the masterby the frequency inverters.
For sync-controlled process data processing, the sync telegram must be generatedaccordingly.
[8-6] Sync telegram
1. After the sync telegram has been received, the frequency inverters send the synchronous process data to the master (TPDOs). The master reads them as process input data.
2. When the transmission process has been completed, the frequency inverters receive the process output data from the master (RPDOs). All further telegrams (e.g. parameters or event-controlled process data) are accepted non-cyclically by the frequency inverters when the transmission is completed. The non-cyclic data are not represented in the above illustration. They must be taken into account when dimensioning the cycle time.
3. The data are accepted by the frequency inverters with the following sync telegram.
Tip!
The response to a sync telegram is determined by the selected transmission type.
8.7.4 Event-controlled process data objects
The transmission of PDOs, the transport type of which is set to event-controlled reception/transmission via codes C00322 and C00323, takes place when an event occurs, i.e. whenthere is a change in the user data or when the adjusted time has elapsed.
8.7.5 Identifiers of the process data objects
Code C00353 serves to define whether ...
9400CAN018
1.
TPDOx RPDOx
2. 3. 4.
Cycle time
“Sync” “Sync”
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the identifiers of the PDOs are to be assigned according to a CANopen definition or
the identifiers of the PDOs are to be assigned according to a Lenze definition or
an individual setting is to be made.
Button Function
C00353/1: "0", COB-ID = C0350 + Lenze-Base-ID
Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + Lenze-Base-ID.
C00353/1: "1", COB-ID = C0350 + CANopen-Base-ID
Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + CANopen-Base-ID.
C00353/1: "2", COB-ID = individual setting
Address of CAN-IN1 is determined by C00354/1.Address of CAN-OUT1 is determined by C00354/2.
C00353/2: "0", COB-ID = C0350 + Lenze-Base-ID
Addresses of CAN-IN2 and CAN-OUT2 are determined by C00350 + Lenze-Base-ID.
C00353/2: "1", COB-ID = C0350 + CANopen-Base-ID
Addresses of CAN-IN2 and CAN-OUT2 are determined by C00350 + CANopen-Base-ID.
C00353/2: "2", COB-ID = individual setting
Address of CAN-IN2 is determined by C00354/3.Address of CAN-OUT2 is determined by C00354/4.
C00353/3: "0", COB-ID = C0350 + Lenze-Base-ID
Addresses of CAN-IN3 and CAN-OUT3 are determined by C00350 + Lenze-Base-ID.
C00353/3: "1", COB-ID = C0350 + CANopen-Base-ID
Addresses of CAN-IN3 and CAN-OUT3 are determined by C00350 + CANopen-Base-ID.
C00353/3: "2", COB-ID = individual setting
Address of CAN-IN3 is determined by C00354/5.Address of CAN-OUT3 is determined by C00354/6.
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Basic identifier for individual identifier assignment
For individual identifier assignment, values in the range from 385 ... 1407 are to be used asbasic identifiers for all process data input and output objects.
The identifier is calculated as follows:
Identifier = basic identifier (385 ... 1407) + value of C00354/x
In the Lenze setting, the following basic identifiers of the PDOs are preset:
8.7.6 Assignment of the process data objects
The following process data objects can be used in the frequency inverters of the 8400series:
Each process data object provides 4 words (2 bytes/word). The information of the firstword each is always available in a bit-decoded form (bits 0 ... 15).
PDO Basic identifier
dec hex
PDO1
RPDO1 512 0x200
TPDO1 385 0x181
PDO2
RPDO2 640 0x280
TPDO2 641 0x281
PDO3
RPDO3 768 0x300
TPDO3 769 0x301
Receive PDOs (RPDOs) Transmit PDOs (TPDOs)
LP_CanIn1 LP_CanOut1
LP_CanIn2 LP_CanOut2
LP_CanIn3 LP_CanOut3
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8.7.6.1 PDO mapping
[8-7] PDO mapping
B00
B01
w1
C00408/1 (LP_CanIn1)/2 (LP_CanIn2)/3 (LP_CanIn3)
C00401/1 (LP_CanIn1)
/2 (LP_CanOut1)
/3 (LP_CanIn2)/5 (LP_CanIn3)
/4 (LP_CanOut2)/6 (LP_CanOut3)
C00409/1 (LP_CanIn1 w1)/5 (LP_CanIn2 w1)/9 (LP_CanIn3 w1)
C00409/2 (LP_CanIn1 w2)/6 (LP_CanIn2 w2)
/10 (LP_CanIn3 w2)
C00409/3 (LP_CanIn1 w3)/7 (LP_CanIn2 w3)
/11 (LP_CanIn3 w3)
C00409/4 (LP_CanIn1 w4)/8 (LP_CanIn2 w4)
/12 (LP_CanIn3 w4)
w2
w3
w4
CanIn
CA
N-B
us
C00866/1 (LP_CanIn1 w1)/5 (LP_CanIn2 w1)/9 (LP_CanIn3 w1)
C00866/4 (LP_CanIn1 w4)/8 (LP_CanIn2 w4)
/12 (LP_CanIn3 w4)
C00866/3 (LP_CanIn1 w3)/7 (LP_CanIn2 w3)
/11 (LP_CanIn3 w3)
C00866/2 (LP_CanIn1 w2)/6 (LP_CanIn2 w2)
/10 (LP_CanIn3 w2)
B02
B03
B04
B05
B06
B07
B08
B09
B10
B11
B12
B13
B14
B15
C00868/1 (LP_CanOut1 w1)/5 (LP_CanOut2 w1)/9 (LP_CanOut3 w1)
C00868/4 (LP_CanOut1 w4)/8 (LP_CanOut2 w4)
/12 (LP_CanOut3 w4)
C00868/3 (LP_CanOut1 w3)/7 (LP_CanOut2 w3)
/11 (LP_CanOut3 w3)
C00868/2 (LP_CanOut1 w2)/6 (LP_CanOut2 w2)
/10 (LP_CanOut3 w2)
WORDtoBit
w11
Codes Description
C00401/1...6 Inversion of the control and status bits of CAN port blocks LP_CanIn1...3 and LP_CanOut1...3
C00408/1...3 Selection of the mapping source for port blocks LP_CanIn1...3
C00409/1...12 Mapping for port blocks LP_CanIn1...3 • Subcodes /4, /8 and /12 are used for the statistic mapping. For this, there is no value
available.
C00866/1...12 Display of the 16-bit input values of the CAN interface
C00868/1...12 Display of the 16-bit output values of the CAN interface
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8.7.6.2 Port blocks LP_CanIn1 ... LP_CanIn3
[8-8] Port blocks LP_CanIn1 ... LP_CanIn3
The process data transmitted from the drive to the CAN bus can be processed by amaximum of three process data objects (RPDOs): LP_CanIn1 ... LP_CanIn3.
The process data object LP_CanIn1 provides a total of four words, the first being defined asthe control word (wCtrl). The information of the control word is also available for theapplication in a bit-decoded form (bCtrl1_B0 ... bCtrl1_B15).
dnIn34_p is in preparation for 8400-StateLine devices.
Except for the designation "control word", the same applies to the two other process dataobjects (LP_CanIn2 and LP_CanIn3).
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Note!
The first word "wCtrl" is only designated as control word. It is not firmly assigned to the device control and can be used as you choose, if required.
In the Lenze standard application (C00007 = "CAN control"), it is assigned as control word.
RPDO Word 1 Word 2 Word 3 Word 4
LP_CanIn1 wCtrl / bCtrl1_b0 ... bCtrl1_b15 wIn2 wIn3 wIn4
LP_CanIn2 wIn1 / bIn1_b0 ... bIn1_b15
LP_CanIn3
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8.7.6.3 Port blocks LP_CanOut1 ... LP_CanOut3
[8-9] Port blocks LP_CAN1-OUT ... LP_CAN3-OUT
The process data transmitted from the drive to the CAN bus can be processed by amaximum of three process data objects (TPDOs): LP_CanOut1 ... LP_CanOut3.
The process data object LP_CanOut1 provides a total of four words, the first being definedas the status word (wState).
Note!
The first word "wState" is only designated as status word. It is not firmly assigned to the device control and can be used as you choose, if required.
In the Lenze standard application (C00007 = "CAN control"), it is assigned as status word.
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The first process data word of the objects LP_CanOut1 ... LP_CanOut3 results from thelinkage of "wState"/"wOut1" with the binary outputs B00 ... B15 via an OR function. Whenusing the first data word, consider that the data word to be sent via the CAN bus will alsobe influenced by changing its binary outputs.
The example of the TPDO LP_CanOut1 clarifies this:
[8-10] Logic combination of the output signals in the port block LP_CanOut1
LP_CAN-OUT1 ?
bState_B00
b _B01State
b _B14State
b _B15State
wState
wOut2
wOut3
wOut4
Bit 015 Bit 015
Bit 015
Bit 015
Bit 015
CAN
X1
RPDO Word 1 Word 2 Word 3 Word 4
LP_CanOut1 wState / bState1_b0 ... bState1_b15 wOut2 wOut3 wOut4
LP_CanOut2 wOut1 / bOut1_b0 ... bOut1_b15
LP_CanOut3
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8.7.6.4 Port blocks LP_MciIn and LP_MciOut
[8-11] Port blocks LP_MciIn ... LP_MciOut
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8.8 Parameter data transfer
[8-12] Parameter data transfer via the available parameter data channels
Parameters are values stored in codes on Lenze controllers.
Two parameter data channels are available for parameter setting, enabling thesimultaneous connection of different devices for configuration purposes.
Parameter data are transmitted via the system bus as SDOs (Service Data Objects) andacknowledged by the receiver. The SDO enables read and write access to all deviceparameters and to the CANopen object directory integrated in the device. Indices (e.g.0x1000) ensure access to device parameters and functions included in the object directory.To transfer SDOs, the information contained in the user data must comply with the CANSDO protocol.
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8.8.1 Identifiers of the parameter data objects
In the Lenze setting, the basic identifiers of the SDOs are preset according to the"Predefined Connection Set".
The identifiers of the parameter data objects SDO1 and SDO2 result from the basicidentifier and the node address set under code C00350:
Identifier = basic identifier + node address
Object Direction Lenze-Base-ID CANopen-Base-ID
from the drive
to the drive dec hex dec hex
SDO1 (Parameter data channel 1)
TSDO1 X 1408 580 1408 580
RSDO1 X 1536 600 1536 600
SDO2(Parameter data channel 2)
TSDO2 X 1472 5C0 1472 5C0
RSDO2 X 1600 640 1600 640
Heartbeat X 1792 700 1792 700
Boot-up X 1792 700 1792 700
Note!
Observe that the parameter data channels 1 and 2 are active in the factory setting.
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8.8.2 User data
Structure of the user data of the parameter data telegram
The following commands can be sent or received for writing and reading the parameters:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
Error code
Note!
For the user data, the Motorola format is used.
Parameter data telegram examples ( 254)
Command Meaning
Write request Send parameter to drive
Write response Acknowledgement, frequency inverter response to write request
Read request Request to read a parameter from the frequency inverter
Read response Response to the read request with current value
Error response The frequency inverter signals a communication error
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Command
The command contains the services for writing and reading parameters and informationabout the user data length:
e: expedited (shortened block service)
s: segmented (normal block service)
The following information is contained or must be entered in the command:
"Error response" command: In the event of an error, the addressed node generates an"error response". This telegram always contains the value "6" in data 4 and an error code indata 3.
Error codes ( 253)
Command Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command specifier (cs) Toggle (t) Length e s
Write request 0 0 1 0 00 = 4 bytes01 = 3 bytes10 = 2 bytes11 = 1 byte
1 1
Write response 0 1 1 0 0 0
Read request 0 1 0 0 0 0
Read response 0 1 0 0 1 1
Error response 1 0 0 0 0 0 0 0
CANopen specification DS301,V4.02
Here, further commands are defined (e.g. segmented transfer).
Command 4 byte data 2 byte data 1 byte data Block
5th ... 8th byte 5th and 6th byte 5th byte e s
Write request 0x23 (35) 0x2B (43) 0x2F (47) 0x21 (33)
Write response 0x60 (96) 0x60 (96) 0x60 (96) 0x60 (96)
Read request 0x40 (64) 0x40 (64) 0x40 (64) 0x40 (64)
Read response 0x43 (67) 0x4B (75) 0x4F (79) 0x41 (65)
Error response 0x80 (128) 0x80 (128) 0x80 (128) 0x80 (128)
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Addressing by means of index and subindex
The parameter or the Lenze code is addressed via these two bytes according to the formula:
Index = 24575 - (Lenze code number)
Example:
The acceleration time (code C00012) is to be addressed. This code has the subindex 0 (nosubindex).
Calculation:
Index:
– Decimal: 24575 - 12 = 24563
– Hexadecimal: 0x5FFF - 0xC = 0x5FF3
Subindex: 0x00
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Data 1 ... Data 4
Maximally 4 bytes are available for parameter value entries. They are assigned as follows:
Example:
The parameter to be transmitted via the CAN bus has the percent value "123.45" (e.g.C00039/1 "Fixed setpoint JOG1").
Calculation:
Value to be transmitted = scaling factor x value(Engineer)
Data (1 ... 4) = 100 x 123.45 = 12345 (0x3039)
Structure of the data telegram:
Length of the parameter value depending on the data format
Parameter value(1 byte)
00 00 00
Parameter value (2 bytes) 00 00
Low byte High byte
Parameter value (4 bytes)
Low word High word
Low byte High byte Low byte High byte
Note!
The parameters of the 8400 frequency inverters with the "%" unit have two decimal positions. Before or after the CAN data transfer, these values must be multiplied or divided by the factor "100" to transmit the parameters completely. This conversion must be guaranteed by the SDO transmitter.
X
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
0xD8 0x5F 0x01 0x39 0x30 0x00 0x00
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Error messages
Byte 1:
The entry 0x80 (128) in the command byte indicates that an error has occurred.
Bytes 2 to 4:
These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) of the code, inwhich the error occurred.
Bytes 5 to 8:
The error code is entered in the data bytes 5 to 8. The error code structure is inverse to theread direction.
Error codes ( 253)
Example:
Representation of the error code "0x06 04 00 41" in the bytes 5 to 8
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Index Subindex Error code
0x80(128)
Low byte High byte Low word High word
Low byte High byte Low byte High byte
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Index Subindex 0x41 0x00 0x04 0x06
0x80(128)
Low byte High byte Low word High word
Low byte High byte Low byte High byte
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8.8.3 Error codes
The error codes are standardised acc. to DS301, V4.02.
Error code Explanation
0x0503 0000 Toggle bit not changed
0x0504 0000 SDO protocol expired
0x0504 0001 Invalid or unknown client/server command specifier
0x0504 0002 Invalid block size (only block mode)
0x0504 0003 Invalid sequence number (only block mode)
0x0504 0004 CRC error (only block mode)
0x0504 0005 Not sufficient memory
0x0601 0000 Object access not supported
0x0601 0001 Attempt to read a write-only object
0x0601 0002 Attempt to write to a read-only object
0x0602 0000 Object not listed in object directory
0x0604 0041 Object not mapped to PDO
0x0604 0042 Number and length of objects to be transferred longer than PDO length.
0x0604 0043 General parameter incompatibility
0x0604 0047 General internal device incompatibility
0x0606 0000 Access denied because of hardware error
0x0607 0010 Unsuitable data type, unsuitable service parameter length
0x0607 0012 Unsuitable data type, service parameter length exceeded
0x0607 0013 Unsuitable data type, service parameter length not long enough
0x0609 0011 Subindex does not exist
0x0609 0030 Parameter value range exceeded
0x0609 0031 Parameter values too high
0x0609 0032 Parameter values too low
0x0609 0036 Maximum value falls below minimum value
0x0800 0000 General error
0x0800 0020 Data cannot be transferred/stored for application.
0x0800 0021 Data cannot be transferred/stored for application due to local control.
0x0800 0022 Data cannot be transferred/stored for application due to current device status.
0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object directory generated from file, generation not possible because of a file error).
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8.8.4 Parameter data telegram examples
8.8.4.1 Read parameters
The heatsink temperature of the frequency inverter with the node address "5" (43 °C, codeC00061) is to be read.
Identifier calculation
"Read request" command (request to read a parameter from the frequency inverter)
Index calculation
Telegram to drive
Response telegram from drive (if data have been correctly transmitted)
Explanation of the response telegram:
Identifier:SDO1 from frequency inverter (= 1408) + node address = 1413 (0x585)
Command:"Read response" (response to the read request) = 0x4B (C00039/1 has a length of 2 bytes)
Index of read request: 0x5FC2
Subindex: 0x00
Data 1 ... 4: 0x00 00 00 2B = 43 [°C]
Identifier SDO1 to frequency inverter Calculation
1536 + node address 1536 + 5 = 1541 (0x0605)
Command Value
Read request 0x40
Index Calculation
Index = 24575 - code number 24575 - 61 = 24514 (0x5FC2)
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x585 0x4B 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00
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8.8.4.2 Write parameters
Task
In the frequency inverter with the node address 2, the rated current of the connectedmotor is to be entered with Ir = 10.20 A (code C00088).
Identifier calculation
"Write request" command (send parameters to drive)
Index calculation
Subindex: 0
Calculation of motor current entry
Telegram to drive
Response telegram from drive (if data have been correctly transmitted)
Explanation of the response telegram:
Identifier:SDO1 from frequency inverter (= 1408) + node address = 1410 (0x582)
Command:"Write response" (acknowledgement, response of the frequency inverter without data) = 0x60
Index / subindex same as in the request telegram
Identifier SDO1 to frequency inverter Calculation
1536 + node address 1536 + 5 = 1538 (0x0602)
Command Value
Write request 0x23
Index Calculation
Index = 24575 - code number 24575 - 88 = 24487 (0x5FA7)
Data 1 ... 4 Calculation
Value for motor current, (data type U16; display factor 1/100) 10.20 x 100 = 1020 (0x03 FC)
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x602 0x2B 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00
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8.8.4.3 Read block parameters
The software version (code C00099) is to be read from the parameter set of the frequencyinverter with node address 12.
The data type of the software version is "visible string", 0-terminated. The content of thecode has a length of 12 ASCII characters (including the 0-termination) and is transmittedin the form of separate segments (blocks). Within the user data, each block occupies amaximum data width of 7 bytes.
The following describes the data transfer step by step:
Read request to the frequency inverter
– Identifier
– "Read request" command (request of code C00099)
1st byte: 0x40 "read request" (request to read code C00099 from the frequency inverter)
2nd/3rd. byte: Index high/low byte: 24575 - 99 = 24476 (0x5F9C)
4th byte: Code C00099 has no subindex (entry: 0x00).
Response of the frequency inverter
– Identifier
– Response including the block length (11 characters)
1st byte: 0x41 "read response". The entry 0x41 indicates the block telegram.
2nd/3rd byte: Index/subindex same as in the request telegram
5th byte: 0x0C (= 12), data length 12 characters
Identifier SDO1 to frequency inverter Calculation
1536 + node address 1536 + 12 = 1548 (0x60C)
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x60C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00
Identifier SDO1 from frequency inverter Calculation
1408 + node address 1408 + 12 = 1420 (0x58C)
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x58C 0x41 0x9C 0x5F 0x00 0x0C 0x00 0x00 0x00
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Parameter data transfer
Request of the 1st data block
1st byte: 0x60, "read segment request"
Response: Transmit 1st data block
2nd byte to 8th byte, ASCII format: 01.00.0
Note!
In the following, the toggle bit is marked with an asterisk (*). It is always in the 4thplace.
• Influence of the toggle bit on the request command
– The individual blocks are toggled one after another, i.e. the request with command 0x60 (= 0b0110*0000) is executed before command 0x70 (= 0b0111*0000), which then is followed by 0x60 again, etc.
• Influence of the toggle bit on the transmission command
– The first response of the frequency inverter in the command byte is 0b0000* 0000 if the bytes 2 to 8 are completely filled with data and further telegrams will follow.
– The second response of the frequency inverter in the command byte is 0b0001* 0000 if the bytes 2 to 8 are completely filled with data and further telegrams will follow, etc.
• Influence of the end bit and residual data length on the transmission command "0b000(0/1)* nnn1"
– The last response of the frequency inverter is indicated by setting an "end bit" (bit 0 = 1).
The three following bits (n) indicate the number of bytes which do not contain any data anymore.
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30
0asc 1asc .asc 0asc 0asc .asc 0asc
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Request of the 2nd data block
1st byte: 0x70 (toggle)
Response: Transmit 2nd data block with end identifier
Command byte: 0x17 (00010111bin ):
High nibble: Bit 0 = 1 (toggle bit)
Low nibble: Bit 0 = 1 (end of transmission), bit 1 ... 3 = 011bin (3 bytes do not contain any data)
The result of the data block transfer is: 01.00.00.00
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte
0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00
0asc .asc 0asc 0asc - - -
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Monitoring
8.9 Monitoring
8.9.1 Integrated error detection
If a node detects an error it rejects the CAN telegram bits received so far and sends an errorflag. The error flag consists of 6 consecutive bits with the same logic value.
The following errors are detected:
Bit error
The sending node follows the transmission on the bus and interrupts the transmission if itreceives a different logic value than the value transmitted. With the next bit, the sendingnode starts the transmission of an error flag.
In the arbitration phase, the transmitter only detects a bit error if a dominantly sent bit isreceived as recessive bit. In the ACK slot as well, the dominant overwriting of a recessive bitis not indicated as a bit error.
Stuff-bit error
If more than 5 consecutive bits have the same logic value before the ACK delimiter in theCAN telegram, the previously transmitted telegram will be rejected and an error flag willbe sent with the next bit.
CRC error
If the received CRC checksum does not correspond to the checksum calculated in the CANchip, the CAN controller will send an error flag after the ACK delimiter and the previouslytransmitted telegram will be annulled.
Acknowledgement error
If the sent ACK slot recessively sent by the transmitting node is not dominantly overwrittenby a receiver, the transmitting node will cancel the transmission. The transmitting nodewill annul the transmitted telegram and will send an error flags with the next bit.
Format error
If a dominant bit is detected in the CRC delimiter, in the ACK delimiter or in the first 6 bitsof the EOF field, the received telegram will be rejected and an error flag will be sent withthe next bit.
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8.9.2 Heartbeat protocol
[8-13] Heartbeat protocol
The heartbeat producer cyclically sends a heartbeat message to one or several heartbeatconsumers.
The consumers monitor whether the message is received within the "heartbeat consumertime". If this is not the case, an error message, referred to as "heartbeat event", will begenerated.
If the "heartbeat event" occurs, the node changes from the "operational" state to the "pre-operational" state" (Lenze setting).
The heartbeat monitoring only starts when the first heartbeat telegram of a monitorednode has been successfully received and the "pre-operational" NMT status has beenassumed.
With StateLine devices, up to 7 heartbeat producers can be monitored.
With HighLine devices, up to 15 heartbeat producers can be monitored.
The settings can be selected under the codes C00381 (CAN heartbeat producer time) andC00385 (CAN node address of heartbeat producer).
Tip!
Observe the notes concerning the object I-1017.
E82ZAFU009
1
1
8
8
. . . .
. . . .
0
0
s
sIndication
HeartbeatEvent
Request
Request
Indication
Heartbeat Producer Heartbeat Consumer
HeartbeatProducerTime
HeartbeatConsumerTime
EMERGENCY
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8.9.3 Emergency
"Emergency" is sent once to the master when the error status changes due to theoccurrence or elimination of an internal frequency inverter error.
The emergency telegram sent on the CAN bus has the following structure:
1st/2nd byte: Emergency error code
3rd byte: Error register object I-1001
4th to 8th byte: Field for manufacturer-specific error message
– Emergency error code I-1000: Lenze error number
– All other emergency error codes have the value "0"
All numbers are hexadecimal values
Example:
Byte 1 / 2: 0x00 / 0x10 (generic error)
Byte 3: 0x01 (error register contents)
Byte 4: 0x00 (reserved)
Bytes 5 ... 8: Error messages of the operating system
Corresponding "no errors" message: 0x00000000.
A detailed description can be found in the CAN specification DS301V402.
8.9.4 Heartbeat commissioning example
A heartbeat consumer (8400 frequency inverter, node 2) is to be monitored by an 8400frequency inverter (node 1) used as a heartbeat producer.
The heartbeat producer is to send a heartbeat telegram to the heartbeat consumer every10 ms. The heartbeat consumer monitors the arrival of the heartbeat telegram.
If an error occurs, a response is to be triggered in the frequency inverter.
Emergency error codes Cause Entry in the error register (I-1001)
0000 • One of several errors eliminated xx
• Elimination of one single error (afterwards no more errors)
00
1000 Standard device in TRIP, message, warning, FAIL, or QSP
01
3100 Supply voltage of standard device faulty or failed
01
8100 Communication error (warning) 11
8130 Life guard error or heartbeat error 11
Note!
The boot-up telegram counts as the first heartbeat telegram!
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For this purpose, carry out the following commissioning step:
Set the "heartbeat producer time" (transmission cycle) for node 1 in C00381.
– In this example, a cycle of 10 ms is to be set.
– ID 702: Response message from the producer (node 1) to the consumer (node 2), "operational" (0xT0)
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Implemented CANopen objects
8.10 Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-independent "CANopen objects". A completely CANopen-compliant communication canonly be achieved by using CANopen objects for parameter setting. The CANopen objectsdescribed in this chapter are defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. In the following table, thecorresponding Lenze codes are listed in the column "Relationship to Lenze codes".
Overview of CANopen indices and their relationship to Lenze codes
Note!
Some of the terms used here derive from the CANopen protocol.
CANopen object Relationship to Lenze code
Index Subindex Name
I-1000 0 Device type -
I-1001 0 Error register -
I-1003 Pre-defined error field
0 Number of errors -
1...10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
0 Highest subindex supported -
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
I-1200 SDO1 server parameter
0 Highest subindex supported -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
I-1201 SDO2 server parameter
0 Highest subindex supported -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
I-1400 RPDO1 communication parameter
0 Highest subindex supported -
1 COB-ID used by RPDO C00355/1
2 Transmission type C00323/1
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I-1401 RPDO2 communication parameter
0 Highest subindex supported -
1 COB-ID used by RPDO C00355/3
2 Transmission type C00323/2
I-1402 RPDO3 communication parameter
0 Highest subindex supported -
1 COB-ID used by RPDO C00355/5
2 Transmission type C00323/3
I-1600 RPDO1 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00409/1...4C00866/1...4
I-1601 RPDO2 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00409/5...8C00866/5...8
I-1602 RPDO3 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00409/9...12C00866/9...12
I-1800 TPDO1 communication parameter
0 Highest subindex supported -
1 COB-ID used by TPDO C00355/2
2 Transmission type C00322/1
3 Inhibit time -
5 Event timer C00356/5C00369
I-1801 TPDO2 communication parameter
0 Highest subindex supported -
1 COB-ID used by TPDO C00355/4
2 Transmission type C00322/2
3 Inhibit time -
5 Event timer C00356/2C00369
I-1802 TPDO3 communication parameter
0 Highest subindex supported -
1 COB-ID used by TPDO C00355/6
2 Transmission type C00322/3
3 Inhibit time -
5 Event timer C00356/3C00369
I-1A00 TPDO1 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00868/1...4
CANopen object Relationship to Lenze code
Index Subindex Name
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I-1A01 TPDO2 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00868/5...8
I-1A02 TPDO3 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00868/9...12
CANopen object Relationship to Lenze code
Index Subindex Name
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I-1000
The CANopen index I-1000 specifies the profile for this device. Furthermore, additionalinformation defined in the device profile itself can be stored here.
[8-1] Data telegram assignment
In case of 8400 series frequency inverters, the four bytes contain the following values:
5th and 6th byte: The data content is 0x0000, i.e. no profile definition.
7th byte: The data content specifies the device type: Here the value is 0x00 for frequency inverter.
8th byte: The data content is 0x00.
The data content for the 8400 frequency inverter thus is: 00 00 00 00
I-1001
Error register
The error status in the data byte (U8) is bit coded. The following error states are coded inthe data byte (U8):
Index
I-1000Name:
Device type
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Device type 0 0 4294967295 ro U32
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
High word Low word
High byte Low byte High byte Low byte
Additional information Device profile number
Index:
I-1001Name:
Error register
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Error register - 0 255 ro U8
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status
0 0 0 0 0 0 0 0 No error
0 0 0 0 0 0 0 1 Device error message
0 0 0 1 0 0 0 1 Communication error
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I-1003
Error history
This object indicates that an error has occurred in the module and in the standard device.
Index:
I-1003Name:
Pre-defined error field
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of errors 0 0 255 rw U8
1 ... 10: Standard error field - 0 4294967295 ro U32
Subindex Meaning
0 Number of saved error messages
1...10 Display of the error listThe error messages (U32) consist of a 16-bit error code and a manufacturer-specific information field comprising 16 bits.
Note!
The values in the "standard error field" under subindex 1 ... 10 will be deleted if the subindex "number of recorded errors" is overwritten with the value "0".
Emergencyerror codes
Cause Entry in theerror register
(I-1001)
0x0000 One of several errors eliminated 0xXX
Elimination of one single error (afterwards no more errors)
0x00
0x1000 Standard device is in error status (error response "fault", "message", "warning", "error", "quick stop by trouble", or "system error")
0x01
0x3100 Supply voltage of standard device faulty or failed 0x01
0x8100 Communication error (warning) 0x11
0x8130 Life guard error or heartbeat error 0x11
0x8150 Collision of COB-IDs: An ID parameterised for reception is also used for transmission.
0x11
0x8210 PDO length shorter than expected 0x11
0x8220 PDO length longer than expected 0x11
0x8700 Monitoring of the sync telegram 0x11
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I-1005
This object can be used to activate the generation of sync telegrams and to write theidentifier value.
This object relates to codes C00367 and C00368.
Creating sync telegrams
Sync telegrams are created by setting bit 30 (see below) to "1". The time between the synctelegrams can be set using the object I-1006.
Writing identifiers
To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting(and according to CANopen specification) . This means that all modules are by default setto the same sync telegram.
If sync telegrams are only to be received by certain communication modules, their identifiers can be entered with values up to and including 0x07FF.
The identifier may only be changed when the communication module does not send any sync telegram (bit 30 = "0").
How to change the identifier:
– Deactivate identifier (set bit 30 to "0").
– Change identifier.
– Activate identifier (set bit 30 to "1").
[8-2] Data telegram assignment
Index:
I-1005Name:
COB-ID SYNC message
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: COB-ID SYNC message 0x0000 0080or0x8000 0080
0 4294967295 rw U32
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
X 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
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I-1006
Setting the sync telegram cycle time.
The cycle time can be selected as "1000" or as an integer multiple of it.
If "0 μs" is set (Lenze setting), no sync telegrams are created.
This object relates to code C00369.
I-1014
When communication errors occur and are acknowledges or when internal errors occur inthe communication module or controller (e.g. "fault"), the system bus sends an errormessage. The telegram is sent once for every error. This function can be activated ordeactivated with bit 31.
[8-3] Data telegram assignment
Index:
I-1006Name:
Communication cycle period
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Communication cycle period 0 μs 0 μs 65535000 rw U32
Index:
I-1014Name:
COB-ID EMCY
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: COB-ID EMCY 0x80 + node ID 0 4294967295 rw U32
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit Setting
Bit 31 0 Emergency object is valid.
1 Emergency object is invalid.
Note!
The identifier can only be changed in the "emergency object invalid" status (bit 31 = 1).
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I-1017
Time interval for sending the heartbeat telegram to the consumer(s). Heartbeat protocol( 260)
The parameterised time is rounded down to an integer multiple of 5 ms.
The heartbeat telegram is automatically sent as soon as a time > 0 ms is entered. In this case, the "node guarding" monitoring function is deactivated.
This object relates to code C00381.
I-1018
Index:
I-1017Name:
Producer heartbeat time
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Producer heartbeat time 0 0 ms 65535 rw U32
Index:
I-1018Name:
Identity object
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Highest subindex supported see below 0 4294967295 ro U32
1: Vendor ID
2: Product code
3: Revision number
4: Serial number
Subindex Meaning
1 Manufacturer's identification number • The identification number allocated to Lenze by the organisation "CAN in
Automation e. V." is "0x0000003B".
2 Product code
0x84001 8400 BaseLine
0x84002 8400 StateLine
0x84003 8400 HighLine
3 Main and subversion of firmware
4 Serial number
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I-1200
Identifiers for SDO server channel 1 (basic SDO channel).
According to DS301 V4.02, the basic SDO channel can neither be changed nor deactivated.
[8-4] Data telegram assignment
Index:
I-1200Name:
SDO1 server parameter
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 2 2 2 ro U8
1: COB-ID client -> server (rx) node ID + 0x600 0 4294967295 ro U32
2: COB-ID server -> client (tx) node ID + 0x580 0 4294967295 ro U32
Subindex Meaning
1 Specification of receive identifier • For SDO server channel 1: node address (C00350) + 0x600
2 Specification of send identifier • For SDO server channel 1: node address (C00350) + 0x580
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
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I-1201
Identifiers for SDO server channel 2.
The SDO server parameter is only valid, if bit 31 is set to "0" for both transmission directions (subindex 1 and 2).
In the Lenze setting, the SDO server channels 2 are deactivated (bit 31 = "1").
The identifier may only be changed when the SDO is invalid (bit 31 = "1").
[8-5] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1201Name:
SDO2 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 3 - (read access only) ro U8
1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32
Subindex Meaning
1 Specification of receive identifier
2 Specification of send identifier
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit Setting
Bit 31 0 SDO is valid.
1 SDO is invalid.
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Example
Parameter data channel 2 of the controller with node address 4 shall be activated.
For this, bit 31 must be set to "0" (≡ "SDO is valid") in subindices 1 and 2 of the object I-1201.
The master must send the two "write request" commands to the nodes via the basic SDO channel.
Identifier calculation
Identifier (COB-ID) = basic identifier + node address (node ID)
Basic identifier SDO2 from master to drive: 1600 (0x640) Identifier = 0x640 + 0x4 = 0x644
Basic identifier SDO2 from drive to master: 1472 (0x5C0) Identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)
[8-6] Data telegram assignment for subindex 1
[8-7] Data telegram assignment for subindex 2
User data assignment
[8-8] User data assignment for writing to subindex 1
[8-9] User data assignment for writing to subindex 2
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier = 0 11-bit identifier = 0x644
0x00 0x00 0x06 0x44
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier = 0 11-bit identifier = 0x5C4
0x00 0x00 0x05 0xC4
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00
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I-1400
Communication parameter for receiving process data via RPDO1
[8-10] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Description of subindex 1
[8-11] I-1400 ... I-1402, subindex 1
Index:
I-1400Name:
RPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message 0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 "5" is permanently set. • Max. 5 subindicesare supported.
-
1 RPDO1 identifier • According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x200 + node ID
C00355/1
2 RPDO transmission type according to DS301 V4.02 Transmission type ( 235)
C00323/1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit no. Value Explanation
0...10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO possible (cannot be set)
1 RTR to this PDO not possible (Lenze)
31 0 PDO active
1 PDO not active
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Description of subindex 2
[8-12] I-1400 ... I-1402, subindex 2
I-1401
Communication parameter for receiving process data via RPDO2
For data telegram assignment and description of subindices 1 and 2, see object I-1400.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
PDO transmission Transmission type Explanation
cyclic synchronous Event-controlled
X X n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth SYNC.
X n = 254 PDO will be accepted immediately.
Index:
I-1401Name:
RPDO2 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x300 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message 0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 "5" is permanently set. • Max. 5 subindicesare supported.
-
1 RPDO2 identifier • According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x300 + node ID
C00355/3
2 RPDO transmission type according to DS301 V4.02 Transmission type ( 235)
C00323/2
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I-1402
Communication parameter for receiving process data via RPDO3
For data telegram assignment and description of subindices 1 and 2, see object I-1400.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1402Name:
RPDO3 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by RPDO 0x400 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message 0x06090011)
rw U8
5: Event timer - - (not used for RPDOs) rw U16
Subindex Meaning Code
0 "5" is permanently set. • Max. 5 subindicesare supported.
-
1 RPDO3 identifier • According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x400 + node ID
C00355/5
2 RPDO transmission type according to DS301 V4.02 Transmission type ( 235)
C00323/3
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I-1600
The object I-1600 serves to receive parameter data as RPDO1.
This object relates to codes C00409/1...4 and C00866/1...4.
[8-13] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/mapping entry).
PDO mapping ( 240)
I-1601
The object I-1601 serves to receive parameter data as RPDO2.
This object relates to codes C00409/5...8 and C00866/5...8.
For data telegram assignment, see object I-1600.
Index:
I-1600Name:
RPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application objects in PDO
0 0 8 rw U8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for RPDO1 • The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
Index:
I-1601Name:
RPDO2 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application objects in PDO
0 0 8 rw U8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for RPDO2 • The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.
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I-1602
The object I-1602 serves to receive parameter data as RPDO3.
This object relates to codes C00409/9...12 and C00866/9...12.
For data telegram assignment, see object I-1600.
Index:
I-1602Name:
RPDO3 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application objects in PDO
0 0 8 rw U8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for RPDO3 • The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.
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I-1800
Communication parameter for sending process data via TPDO1
[8-14] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Description of subindex 1
[8-15] I-1800 ... I-1803, subindex 1
Index:
I-1800Name:
TPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message 0x06090011)
rw U8
5: Event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Code
0 "5" is permanently set. • Max. 5 subindicesare supported.
-
1 TPDO1 identifier • According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x180 + node ID
C00355/2
2 TPDO transmission type according to DS301 V4.02 Transmission type ( 235)
C00322/1
3 Minimum time between sending two identical TPDOs (see DS301 V4.02).
-
5 Cycle time for PDO transmission with transmission type "254".
C00356/5C00369
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit no. Value Explanation
0...10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO possible (cannot be set)
1 RTR to this PDO not possible (Lenze)
31 0 PDO active
1 PDO not active
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Description of subindex 2
[8-16] I-1800 ... I-1803, subindex 2
Description of subindex 3
The entered value multiplied by 0.1 gives the delay time in [ms]. Only integers will beconsidered, i.e. fractional numbers will be rounded down to integers.
Example:
Entered value: 26
Calculated time = 26 x 0.1 [ms] = 2.6 [ms] delay time = 2 [ms}
Description of subindex 5
For cyclic operation (transmission type 254), the cycle time for sending the process dataobject on the CAN bus can be set under subindex 5:
The entered value corresponds to the time in [ms].
PDO transmission Transmission type Explanation
cyclic synchronous Event-controlled
X X n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth SYNC.
X n = 252 On sync, the PDO is filled with new data, but only sent on RTR.
X n = 254, 255 Event-controlled or cyclic
Note!
The delay time can only be changed when the PDO is not active (see subindex 1, bit 31 = 1).
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I-1801
Communication parameter for sending process data via TPDO2
For data telegram assignment and description of subindices, see object I-1800.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1801Name:
TPDO2 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by TPDO 0x280 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message 0x06090011)
rw U8
5: Event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Code
0 "5" is permanently set. • Max. 5 subindicesare supported.
-
1 TPDO2 identifier • According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x280 + node ID
C00355/4
2 TPDO transmission type according to DS301 V4.02 Transmission type ( 235)
C00322/2
3 Minimum time between sending two identical TPDOs (see DS301 V4.02).
-
5 Cycle time for PDO transmission with transmission type "254".
C00356/2C00369
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I-1802
Communication parameter for sending process data via TPDO3
For data telegram assignment and description of subindices, see object I-1800.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1802Name:
TPDO3 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by TPDO 0x380 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message 0x06090011)
rw U8
5: Event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Code
0 "5" is permanently set. • Max. 5 subindicesare supported.
-
1 TPDO3 identifier • According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x380 + node ID
C00355/6
2 TPDO transmission type according to DS301 V4.02 Transmission type ( 235)
C00322/3
3 Minimum time between sending two identical TPDOs (see DS301 V4.02).
-
5 Cycle time for PDO transmission with transmission type "254".
C00356/3C00369
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Implemented CANopen objects
I-1A00
The object I-1A00 serves to send parameter data as TPDO1.
This object relates to code C00868/1...4.
[8-17] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/mapping entry).
PDO mapping ( 240)
I-1A01
The object I-1A01 serves to send parameter data as TPDO2.
This object relates to code C00868/5...8.
For data telegram assignment, see object I-1A00.
Index:
I-1A00Name:
TPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application objects in PDO
0 0 8 rw U8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for TPDO1 • The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
Index:
I-1A01Name:
TPDO2 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application objects in PDO
0 0 8 rw U8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for TPDO2 • The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.
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I-1A02
The object I-1A02 serves to send parameter data as TPDO3.
This object relates to code C00868/9...12.
For data telegram assignment, see object I-1A00.
Index:
I-1A02Name:
TPDO3 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of mapped application objects in PDO
0 0 8 rw U8
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for TPDO3 • The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.
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8400 HighLine C | Software ManualError management
Basics on error handling in the controller
9 Error management
9.1 Basics on error handling in the controller
Many functions are integrated in the controller which detect errors and thus
protect the device against damage or overload, e.g. short circuit detection, Ixt overload detection, overtemperature detection, etc.
detect a maloperation by the user, e.g. memory module missing, communication module required and missing, etc.
output a warning signal if desired, e.g. if the speed is too high or too low, etc.
Depending on the importance, this error detection in the device responds very fast (e.g.short circuit detection < 1 ms) or in a slower cycle (e.g. temperature monitoring approx.100 ms).
It is possible to configure some of the device errors with regard to their effect on thebehaviour of the controller, e.g. for missing CAN telegrams when the controller iscontrolled via the CAN bus:
All functions provided with an error detection (e.g. the motor control) supply informationto an error handler which is processed every 1 ms and which evaluates all the information.
During this evaluation
the state-determining error is generated
the current error is generated
the controller is set to the respective error status (e.g. TroubleQSP).
These two types of error information serve to diagnose errors systematically and containthe following information:
1. the error type, e.g. warning
2. the subject area concerned, e.g. CAN
3. the error identification number within the subject area
Together all types of information form the real error number which is unique in the wholedevice system.
In addition to the control of the device state by the error handler, a logbook functionrecords the errors and their history Logbook ( 292)
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9.2 AutoFailReset function
The AutoFailReset function serves to reset the latching errors "Fault", "TroubleQSP" and the"WarningLocked" warning automatically.
The "latching" term means that the effect on the controller remains active even after theerror cause has been removed.
To reset latching errors and warnings, the following options are available:
Manual reset
– with device command C00002/19 (active by a low-high edge)
– by a Low/High edge at the "bResetFail" input of the "LS_DriveInterface" system block (the "FailReset" control bit in the control word must be parameterised with the value "1".
Automatic reset
– using the AutoFailReset function.
Overview of the relevant parameters
Parameter Information
C00184 Repetition time of the error reset processes
C00185 Time left until the next error reset process
C00186 Max. number of error reset processes
C00187 Current number of error reset processes carried out ineffectively
C00188 Configuration of the AutoFailReset function • 0: Off • 1: Fault + TroubleQSP • 2: WarningLocked • 3: All locking
C00189 Response after max. number of error reset processes has been reached
Highlighted in grey = display parameter
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Drive diagnostics with the »Engineer«
9.3 Drive diagnostics with the »Engineer«
With an online connection to the controller, you can use the »Engineer« to diagnose theconnected controller and get a clear visualisation of important controller states:
The online connection with the »Engineer« can be made via the following deviceinterfaces:
CAN interface X1Diagnostics via CAN which is available as onboard bus
Diagnostic interface X6 We recommend this diagnostic connection when the CAN interface X1 is used for process communication.
[9-1] "Diagnostics" tab, screenshot for online connection to the frequency inverter
Use the Reset error button to acknowledge an existing error message if the cause of the error has been eliminated.
Via the Logbook button you can have the logbook of the controller displayed, Logbook ( 292) .
The Device state button serves to display the state machine. The current device status is indicated by a field highlighted in blue.
The Monitoring... button serves to set the monitoring functions (configuration of the error type).
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If you click the Drive control button, a table appears providing information on the bit assignment of the following control-relevant words:
– MCI control word C00136/1
– CAN control word C00136/2
– Cause of controller inhibit C00158
– Cause of quick stop C00159
– Status word C00150
– Extended status word C00155
The Device information button serves to retrieve information needed for service purposes, e.g. firmware data or serial numbers of individual controller components.
How to diagnose a drive with the »Engineer«:
1. Select the 8400 StateLine controller to be diagnosed in the Project view.
2. Click the icon or select the command OnlineGo online to build up an online connection with the controller.
3. Select the Diagnostics tab.
• With an online connection, the Diagnostics tab displays current status information about the controller.
[9-2] Device state
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Drive diagnostics with the »Engineer«
[9-3] Drive control
[9-4] Device information
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9.4 Drive diagnostics via keypad/bus system
Keypad display of the controller status
When the keypad is connected to the diagnostic interface X6 at the front of the controller, the status of the controller is displayed via different symbols on the LDC display in the area .
Symbol Meaning Note
Controller is switched on. SwitchedON ( 62)
Controller is enabled.
Application in the controller is stopped.
Quick stop is active
Controller is inhibited. The power outputs are inhibited.
Controller is ready to switch on. ReadyToSwitchON ( 60)
Speed controller 1 in the limitation. The drive is torque-controlled.
Set current limit has been exceeded in motoror generator mode.
Pulse inhibit is active The power outputs are inhibited.
System fault is active
Fault Fault ( 65)
Trouble Trouble ( 64)
TroubleQSP TroubleQSP ( 63)
Warning is active Warning ( 62)
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Drive diagnostics via keypad/bus system
Display parameters
The parameters listed in the following tables serve to query current states and actualvalues of the controller for diagnostic purposes, e.g. by using the keypad, a bus system orthe »Engineer« (with an online connection to the controller).
These parameters are listed in the »Engineer« parameter list and the keypad in the Diagnostics category.
A detailed description of these parameters can be found in the chapter "Parameter reference" ( 598).
Identification data
The parameters listed in the following table belong to the Identification Controllercategory of the »Engineer« parameter list and the keypad and serve to display theidentification data of the controller:
Parameter Display
C00183 Device state
C00168 Error number
C00051 Actual speed value
C00052 Motor voltage
C00054 Motor current
C00057/1 Maximum torque
C00057/2 Torque at maximum current
C00059 Motor - number of pole pairs
C00061 Heatsink temperature
C00062 Temperature inside the controller
C00063 Motor temperature
C00064 Device utilisation
C00065 Ext. 24-V voltage
C00066 Thermal motor load (I2xt)
C00178 Time the controller was enabled (elapsed-hour meter)
C00179 Power-up time (power-on time meter)
Parameter Display
C00099 Firmware version
C00200 Firmware product type
C00201 Firmware - compilation date
C00203/1...9 HW product types
C00204/1...9 HW serial numbers
C00205/1...6 HW descriptions
C00206/1...6 HW manufacturing data
C00208/1...6 HW manufacturer
C00209/1...6 HW countries of origin
C00210/1...6 HW versions
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9.5 Logbook
The integrated logbook function of the controller chronologically logs important eventswithin the system and plays an important role for troubleshooting and controllerdiagnostics.
Events that can be logged
The following events can be logged in the logbook:
Error messages of the operating system ( 298)
Error messages generated by the application
Loading/saving of parameter sets, loading of the Lenze setting (in preparation)
Transmitting the firmware to the controller (in preparation)
Switching on/off of the controller
Information saved
For each event, the following information is saved in the logbook:
Type of response to the event (e.g. fault, warning or information)
Subject area that activated the event (e.g. CAN or USER).
Event
Value of power-on time meter
Selected process values (analog % signals, binary signals)
Memory depth
Maximum number of logbook entries: 14 (extension in preparation)
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Logbook
9.5.1 Functional description
The structure of the logbook corresponds to a ring buffer:
[9-5] Ring buffer structure
In the event of a supply voltage failure, the logbook is saved and reloaded automaticallywhen the controller is switched on. This ensures that the error history of the device doesnot get lost. For this reason it is very important to act with caution when deleting thelogbook entries.
9.5.2 Filtering logbook entries
Before the logbook logs new entries in the ring buffer, the entries are filtered by aparameterisable filter.
This filter can be used to exclude events with a certain error response (fault, warning,information, etc.) from entry into the logbook.
The filter parameters are set under C00169 by means of a bit mask:
[9-6] Bit mask for event-type filter
Example: Bit 6 must be set to "1" to exclude all events with "Information" response from entry into the logbook:
[9-7] Example: Bit mask for excluding events with "Information" response
↓ : Current event
• As long as free logbook memory locations are available, the entries will be saved at the next free memory location.
• If all memory locations are occupied, the oldest entry will be deleted to save a new entry.
• If the same error occurs frequently (e.g. during commissioning of the device), the 14-line ring buffer of the logbook soon would overflow. To prevent this, the logbook can be configured in such a way that identical errors do not cause a new line entry, but a counter for this type of error is counted up instead. The time entered for the error always is the time of the first occurrence. A new logbook line will only be generated if a different error occurs.
nn-1
n-2
Note!
Events with the "No response" setting are not entered into the logbook.
Meaning: Reserved Fault Trouble TroubleQSP (quick stop by trouble)
Warning Locked Warning Information Reserved
Bit 0Bit 7
�� � � ��
Meaning: Reserved Fault Trouble TroubleQSP (quick stop by trouble)
Warning Locked Warning Information Reserved
Bit 0Bit 7
1 0 0 0 0 00
�� � � ��
0
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9.5.3 Reading out logbook entries
With an online connection, the existing logbook entries can easily be displayed in the»Engineer«. Alternatively, the logbook entries can also be read out via the correspondingparameters (e.g. using the keypad).
How to display logbook entries in the »Engineer«:
1. Go to the Project view and select the 8400 StateLine controller the logbook entries of which are to be read.
2. Click the icon or select the command OnlineGo online to build up an online connection with the controller.
3. Select the Diagnostics tab from the Workspace.
4. Click Logbook.
• The Logbook dialog box appears:
• Click Delete to delete an entry from the logbook.
• Click Export to export the entries from the logbook into a *.log file.
• Activating the Hide system messages checkbox hides all "Information" system messages in the logbook.
5. Click Previous to close the Logbook dialog box.
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Monitoring
9.6 Monitoring
The controller is provided with various monitoring functions which protect the driveagainst impermissible operating conditions:
[9-8] Monitoring configuration
If a monitoring function responds,
– an entry will be made into the Logbook of the controller,
– the response (troubleQSP, warning, fault, etc.) selected for the monitoring function will be activated,
– the status of the internal device control changes according to the selected response, controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes on:
See also: LED status displays ( 55)
Device states ( 56)
Response Entry in the logbook
Display in C00168
Pulse inhibit Controller inhibit
Acknowledgement required
LED"DRIVE ERROR"
None Off
Fault
Trouble(after 0.5 s)
TroubleQSP
Warning locked
Warning
Information Off
System error Mains switching
is required!
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9.6.1 Setting the error response
When a monitoring function responds, the response set for this monitoring function(troubleQSP, warning, fault, etc.) will be activated.
For many monitoring functions the response can be individually parameterised via parameters.
Tip!
The table in chapter "" contains the error messages for which the response can beset "Overview of the error messages of the operating system" entnehmen ( 303) .
Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g.temperature) has been exceeded.
The corresponding preset threshold values can be changed via the following parameters:
Parameter Information
C00120 Mot. overload protection (I²xt)
C00121 Motor temp. warning threshold
C00122 Heatsink temp. warn. threshold
C00123 Device util. warning threshold
C00126 CPU temp. warning threshold
C00127 Mot. overload warning threshold
C00128 Therm. motor time constant
C00132 Max. temperature of brake resistor
C00174 Undervoltage (LU) threshold
C00185 Mains recov. detect. threshold
C00570 Warning thres. brake chop.
C00572 Warn. thr. brake resist. overl.
C00576 Speed monitoring tolerance
C00596 Threshold max. speed reached
C00599 Motor phase failure threshold
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Monitoring
9.6.2 Monitoring of the device utilisation
The following subcodes of code C00064 serve to display the device utilisation (i x t) in [%]:
Subcode 1: Display of the higher of the two values from subcode 1 and 2.
Subcode 2
– If the device utilisation is > 160%: Display of the device utilisation over the last 15 s
– If the device utilisation ≤ 160%: display "0")
Subcode 3: Device utilisation over the last 180 s
If the value displayed in C00064 exceeds the threshold set in C00123, the fault message"OC5: Ixt overload" is output and the fault response set in C00604 is executed (defaultsetting: "Warning").
9.6.3 Mains phase failure monitoring
Under load, the mains input of a controller supplied by three-phases can be destroyed if thedevice is only supplied by two phases (e.g. if a mains phase fails).
The controller is equipped with a so-called mains phase failure detection which identifiesthe described error case and responds as set by the user:
The error message "Su02" is indicated (mains voltage switched off).
The error response set under C00565 becomes active (Lenze setting: "Warning").
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9.7 Error messages of the operating system
This chapter describes all error messages of the controller operating system and possiblecauses & remedies.
Tip!
Each error message is also saved in the logbook in chronological order. Logbook( 292)
9.7.1 Error number
9.7.1.1 Structure of the error number (bit coding)
If an error occurs in the controller, the logbook saves a 32-bit value in the error formatwhich contains the following information:
[9-9] Structure of the error number
9.7.1.2 Error type
The error type is dynamically assigned by the operating system.
Reserved
Error type
Error subject area
Error ID
��� �Bit 16252631 0152930
Bit 29 Bit 28 Bit 27 Bit 26 Meaning
0 0 0 0 0: No response ("no reaction")
0 0 0 1 1: Fault - pulse inhibit ("Fault")
0 0 1 0 2: Trouble
0 0 1 1 3: Quick stop by trouble ("TroubleQSP")
0 1 0 0 4: Warning locked
0 1 0 1 5: Warning
0 1 1 0 6: Information
Bit 16252631 0152930
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9.7.1.3 Error subject area
The subject area indicates the internal "function unit" of the controller in which the errorhas occurred:
9.7.1.4 Error ID
16-bit value (0 ... 65535) for error identification.
Subject area Meaning
dec hex
111 6F Supply voltage
119 77 Temperature
123 7B Motor management / encoder
125 7D Analog I/O integrated
127 7F Extension module slot1
131 83 CAN integrated (general)
135 87 CAN process data object (PDO)
140 8C Device configuration
144 90 Parameter set
145 91 Device firmware (internal error)
400 190 Device hardware is defect
980 3D4 User error, see System block LS_SetError_1 ( 312)
981 3D5
982 3D6
983 3D7
Bit 16252631 0152930
Bit 16252631 0152930
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9.7.1.5 Example for bit coding of the error number
C00168 displays the error number "298057739".
This decimal value corresponds to the following bit sequence:
The bit-by-bit representation of the error number (divided into nibbles)0001⏐0001⏐1100⏐0100⏐0000⏐0000⏐0000⏐1011corresponds to the hexadecimal value of "0x11C4000B"
The error number "298057739" thus means:In the subject area "current" an overcurrent has been detected. A "warning" has been output as a response to the error and this warning has to be reset separately when the error has been eliminated.
Assignment Information Meaning in the example
Reserved Assigned with 0b00
Error type 4: Warning locked
Subject area 452: Current
Error ID 11: "Short circuit" (OC1)
��� �Bit 16252631 0152930
0 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 100
0 0
0 1 0 0
0 1 1 1 0 0 0 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1
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9.7.2 Reset of error message
An error message with the response "Fault", "Trouble", "TroubleQSP" or "Warning locked"must be explicitly reset (acknowledged) after the cause of the error has been eliminated.
To reset (acknowledge) a pending error message, execute the controller command C00002/19 = "1".
Tip!
With an online connection to the controller, use the Diagnostics tab of the»Engineer« and click Error message reset to reset a pending error message.
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9.7.3 Error messages of positioning control
If the FB is in the error state, the output bError is set to TRUE and an error number is outputat wErrorNumber, additionally the event is entered in the logbook of the controller.
The meanings of the error numbers output at wErrorNumber are listed in the below table:
wErrorNumber Symbolic name Meaning
0 NoError Information: no error
400 PosLimitSwitch Positive limit switch triggered.
401 NegLimitSwitch Negative limit switch triggered.
402 PosPositionLimit Positive software limit position reached.
403 NegPositionLimit Negative software limit position reached.
404 FollowErrWarning Following error warning limit reached/exceeded.
405 FollowErrFail Following error limit reached/exceeded.
406 HomePosError Discrete positioning requested and home position unknown.
407 Initialization Information: system initialisation active.
408 UserQuickstop User quick stop 1 (QSP) triggered.
409 MaxVelConflict Incorrect parameterisation of maximum speed.
410 DriveNotReady Information: drive is not ready.
411 VisuQuickstop User quick stop 2 (QSP) triggered.
412 InitError Error during system initialisation.
413 ParameterSaveError Internal error
414 SwapPositionMode Internal error
415 XYPosChangeLimit Internal error
416 PosToExtNoSpeed Internal error
417 InvalidSoftwareLimits Incorrect parameterisation of software limit positions.
418 XTpPositionOutOfLimit Internal error
419 StateBusError Internal error
420 PosProfilerFail Error in kinematic parameters for profile generation.
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9.7.4 Overview of the error messages of the operating system
The following table contains all error messages of the controller operating system with thepreset error responses and - if available – the parameters for setting the error response inalphabetical order.
Tip!
If you click the cross-reference in the last column "Detailed information", you getto the detailed description of the corresponding error message in the followingchapter "Cause & possible remedies" ( 305) .
Subject area no.
Error ID Error number (without error type)
Abbreviation
Error text CAN-Emergency error code
Response can be set in
111 2 0x006f0002 Su02 Mains voltage is switched off 0x3000 C00565/0
119 1 0x00770001 OH Heatsink overtemperature 0x4000 C00582/0
119 15 0x0077000f OH3 Motor temperature (X106) enabled 0x4000 C00585/0
119 50 0x00770032 OC5 Ixt overload 0x2000 C00604/0
123 1 0x007b0001 Maximum torque reached 0xF000 C00608/0
123 14 0x007b000e OU DC bus overvoltage 0x3100 C00601/1
123 15 0x007b000f LU DC bus undervoltage 0x3100 C00600/1
123 17 0x007b0011 OC2 Earth fault power section 0x2000 C00602/0
123 30 0x007b001e Maximum current reached 0x2000 C00609/0
123 32 0x007b0020 NMAX Maximum speed limit reached 0xF000 C00579/0
123 57 0x007b0039 ID1 Error - motor data identification 0xF000 -
123 65 0x007b0041 I2xt overload - brake resistor 0xF000 C00574/0
123 93 0x007b005d Output frequency limited 0xF000 C00567/0
123 94 0x007b005e Switching frequency reduction 0xF000 C00590/0
123 95 0x007b005f Maximum speed for Fchop 0xF000 C00588/0
123 105 0x007b0069 OC6 I2xt overload - motor 0x2000 C00606/0
123 145 0x007b0091 LP1 Motor phase failure 0x3000 C00597/0
123 200 0x007b00c8 Speed limit - feedback system 0xF000 C00607/0
123 205 0x007b00cd SD3 Open circuit - feedback system 0xF000 C00586/0
125 1 0x007d0001 An01 AIN1_I < 4 mA 0xF000 C00598/1
127 2 0x007f0002 CE04 MCI communication error 0x7000 C01501/1
127 15 0x007f000f CE0F MCI control word 0xF000 C00594/2
131 0 0x00830000 CE4 CAN Bus Off 0x8000 C00592/2
131 6 0x00830006 CA06 CAN CRC error 0x8000 C00592/1
131 7 0x00830007 CA07 CAN Bus Warn 0x8000 C00592/3
131 8 0x00830008 CA08 CAN Bus Stopped 0x8000 C00592/4
131 11 0x0083000b CA0b CAN Bus Live Time 0x8130 -
131 15 0x0083000f CA0F CAN control word 0xF000 C00594/1
135 1 0x00870001 CE1 CAN RPDO1 0x8100 C00593/1
135 2 0x00870002 CE2 CAN RPDO2 0x8100 C00593/2
135 3 0x00870003 CE3 CAN RPDO3 0x8100 C00593/3
140 13 0x008c000d MCI1 Module is missing/incompatible 0x7000 C01501/2
144 1 0x00900001 PS01 No memory module 0x6300 -
144 2 0x00900002 PS02 Par.set invalid 0x6300 -
144 3 0x00900003 PS03 Par.set device invalid 0x6300 -
144 4 0x00900004 PS04 Par.set Mci invalid 0x6300 -
144 7 0x00900007 PS07 Par. memory module invalid 0x6300 -
144 8 0x00900008 PS08 Par. device invalid 0x6300 -
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144 9 0x00900009 PS09 Par.format invalid 0x6300 -
145 25 0x00910019 dF25 CU RCOM error 0x6100 -
145 35 0x00910023 RST AutoTrip reset 0xF000 C00189/0
145 50 0x00910032 dF50 Retain error 0x6100 -
400 16 0x01900010 dH10 Heatsink fan failure 0x5000 C00566/0
980 freely config. 0x03d4ffff US01 User-specific error with LS_SetError
0xF000 C00581/1
981 freely config. 0x03d5ffff US02 0xF000 C00581/2
982 freely config. 0x03d6ffff US03 0xF000 C00581/3
983 freely config. 0x03d7ffff US04 0xF000 C00581/4
Subject area no.
Error ID Error number (without error type)
Abbreviation
Error text CAN-Emergency error code
Response can be set in
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9.7.5 Cause & possible remedies
This chapter contains all error messages of the controller operating system in numericalorder of the error numbers. The list provides detailed information on the response to theerror message as well as information on the cause & possible remedies.
Tip!
A list of all error messages of the controller operating system in alphabetical ordercan be found in the previous chapter "Overview of the error messages of theoperating system" ( 303).
Subject area Function Remedy by the user
No. Name
111 Supply voltage Errors related to the supply voltage of the device Yes
119 Temperature Errors that occur for temperature reasons Yes
123 Motor management / encoder
An error occurred in connection with the motor control or encoder evaluation Yes
125 Analog I/O integrated An error occurred at the analog inputs Yes
127 Extension module slot 1 The fieldbus module has reported an error or an error exists in connection with the plugged module
Yes: with fieldbus errorsNo: with internal errors
131 CAN integrated (general) Errors related to general CAN functions Yes
135 CAN process data object (PDO)
Errors that are explicitly related to the CAN-PDOs (process data objects) Yes
140 Device configuration Errors related to the compatibility with the assembled single components (fieldbus module, safety module, and other)
Yes: only with modules plugged by the user or with a memory module
144 Parameter set Errors that occur in connection with the parameter set or the parameter set memory (memory module)
Yes if the memory module in question is missing or incompatible
145 Device firmware (internal error)
Internal error of the device firmware cannot be remedied by the user No
184 MotionControlKernel Error in profile generation, brake control, positioning (basic functions) Yes
400 Device hardware is defect Error caused by internal hardware defect has been detected No
444 Profibus fieldbus Error in connection with the fieldbus communication Yes
980 US01: User error 1 Error generated by the user through function block yes, is generated by the user through function block
981 US02: User error 2
982 US03: User error 3
983 US04: User error 4
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Table of single errors
Subject area Error no. Error cause Error response
Remedy by the user
No. Name
111 Supply voltage 7274498 Su02: Mains voltage switched offThe mains voltage has been switched off.
C00565 This is no real error but an information.
111 Supply voltage 7274499 Su03: Too frequent mains switchingToo frequent mains switching of the power section.The device recognises if the power section is switched on and off too frequently.To protect internal charging connections from destruction, the device reports this error and prevents the controller inhibit. All other functions are active.
1: Fault - pulse inhibit ("Fault")
The error must be acknowledged.The minimum waiting time between two mains switching processes is approximately three seconds.
111 Supply voltage 7274500 Su04: CU insufficiently suppliedThe supply voltage of the control electronics is too low (V < 19 V).Note: The supply voltage can be read out under code C00065.
1: Fault - pulse inhibit ("Fault")
The error must be acknowledged.With internal supply voltage via the power electronics, the controller must be replaced.With external supply voltage, check the correct connection and/or the stability of the supply voltage.
119 Temperature 7798784 OH4: Heatsink temp. > shutdown temp. - 5 ° CThe heatsink temperature has risen to within 5 ° C of the temperature where the motor will be switched off.
C00582 Prevent further heating, i.e. reduce motor load or set controller inhibit so that the heatsink can cool down again.
119 Temperature 7798785 OH1: Heatsink overtemperatureThe heatsink temperature is higher than the fixed limit temperature (90 ° C). Maybe the ambient temperature of the controller is too high or the fan or its ventilation slots are dirty.
1: Fault - pulse inhibit ("Fault")
Check control cabinet temperature.Clean filter.Clean controller.If required, clean or replace the fanProvide for sufficient cooling of the device.
119 Temperature 7798799 OH3: Motor temperature (X106) triggeredThe motor temperature monitoring function at the plug connector X106, terminal T1 /T2, has tripped. Possible causes: 1.) The motor is overheated so that the thermal contact integrated in the motor has been switched.2.) There is an open circuit or loose contact at the terminals mentioned under 1.).
C00585 Check motor temperature monitoring.Provide for sufficient cooling of the motor.Check terminals for open circuit or loose contact.
119 Temperature 7798834 OC5: Ixt overloadThe Ixt overload check has tripped due to 1.) wrong dimensioning of the device with regard to its motor load or 2.) the non-compliance of the load cycles
C00604 as to 1.) check and, if required, correct dimensioning of the device and the motor load with regard to technical dataas to 2.) reduce load cycles of the motor. as to 2.) reduce load cycles of the motor.
123 Motor management / encoder
8060929 OT1: Maximum torque reachedThe device indicates that the maximally possible torque at the motor shaft has been reached.(Display see C00057 )
C00608 Reduction of the motor load
123 Motor management / encoder
8060942 OU: DC bus overvoltageThe device has detected an overvoltage in the DC bus. To protect the device hardware, the inverter control is switched off.Depending on the configuration of the auto-start lock function, C00142 serves to set that, if the this error has been tripped, the controller only starts after the controller inhibit is switched.If this error message remains active longer than the time set in C00601, a "Fault" is tripped.
2: Trouble Reduction of the load in generator mode.Use of a brake resistorUse of a regenerative power supply module.Layout of a DC-bus connection.
123 Motor management / encoder
8060943 LU: DC bus undervoltageThe device has detected an undervoltage in the DC bus. The inverter control is switched off since the drive characteristics of the motor control cannot be ensured anymore due to the DC-bus undervoltage. The configuration of the auto-start lock function C00142 serves to set that, after this error has tripped, the controller only starts after the controller inhibit is switched.
2: Trouble Switch on mains supply or ensure sufficient supply via DC bus. If required, adapt C00142.
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123 Motor management / encoder
8060944 OC1: Power section - short circuitThe device has recognised a short circuit of the motor phases. To protect the device electronics, the inverter control is switched off. Mostly, incorrectly executed motor connections are the cause.If the device is inappropriately dimensioned with regard to the motor load and the current limitation in the controller (Imax controller) is set incorrectly, this error message may also occursee also the chapter "Motor control - defining current limitations"
1: Fault - pulse inhibit ("Fault")
Checking the motor connections and the corresponding plug connector at the device.Compliance with the permissible combinations of device and motor power.Do not set the dynamics of the current limitation controller too high.
123 Motor management / encoder
8060945 OC2: Power section - earth faultThe device has recognised an earth fault at one of the motor phases. To protect the device electronics, the inverter control is switched off. Mostly, incorrectly executed motor connections are the cause.If motor filter, motor cable length, and cable type (shielding capacity) are dimensioned incorrectly, this error message may occur due to leakage currents to PE.
1: Fault - pulse inhibit ("Fault")
Checking the motor connections and the corresponding plug connector at the device.Use of the motor filters, cable lengths, and cable types recommended by Lenze.
123 Motor management / encoder
8060958 OC10: Maximum current reachedThe device indicates that the maximum device current has been reached.The maximum device current is the double value of the rated device current (display in C00098).
1: Fault - pulse inhibit ("Fault")
Check and, if required, correct dimensioning of the load with regard to the installed device power.
123 Motor management / encoder
8060959 OC17: Clamp sets pulse inhibitDue to a short overcurrent, the inverter was switched off for a short time (clamp disconnection).
C00569/1 Check and, if required, correct dimensioning of the load with regard to the installed device power.Reduce the dynamics of the setpoint change or speed control.
123 Motor management / encoder
8060960 OS1: Maximum speed limit reachedThe device has recognised that the maximum speed has been reached.
C00579 Limitation of the setpoint selection to maximum values.If required, set the parameters for the limit values with C00909 and C00910.
123 Motor management / encoder
8060985 ID1: Motor data identification errorThe device has detected an error during the motor data identification.Causes:a) Interruption of the motor cableb) Disconnection of the power section during the identificationc) Implausible settings of the start parameters
4: Warning locked
Checking the motor connections and the corresponding plug connector at the device and, if required, the motor terminal box.Correction of the start parameters for the identification (motor nameplate data)Stable power supply of the device
123 Motor management / encoder
8060986 ID3: CINH motor data identificationThe device has detected controller inhibit during the motor data identification.This cancels the identification process. The Lenze setting of the motor data is used.
4: Warning locked
Do not set controller inhibit during the motor data identification.Do not execute any device function which may activate controller inhibit.
123 Motor management / encoder
8060987 ID4: Resistance identification errorThe device has recognised that an error has occurred in the calculation of the motor cable resistance.Cause:The parameters for cable cross-section and cable length are implausible.
5: Warning Enter sensible values for cable cross-section and motor cable length.
123 Motor management / encoder
8060999 OC11: Clamp operation activeThe device reports that the overcurrent limitation "CLAMP" is activated.A permanent clamp operation causes an overload disconnection.
5: Warning Reduction of the dynamics of the setpoint generation or motor load.
123 Motor management / encoder
8061018 OC13: Maximum current for Fch exceededThe device has detected a motor current which exceeds the maximum current limit at permanent switching frequency of the inverter.
1: Fault - pulse inhibit ("Fault")
Background: If a permanent switching frequency inverter is set, a certain limit arises for the maximum current, depending on the setting. If this current limit is exceeded due to a load impulse or overload, an error message is displayed
Observance of the maximum current setting depending on the set switching frequency of the inverter.If required, reduction of the load requirement or setting of the dynamic switching frequency.
Subject area Error no. Error cause Error response
Remedy by the user
No. Name
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123 Motor management / encoder
8061021 OT2: Speed controller output limitedThe output of the speed controller has reached the internal limit value. In this state, the speed controller is not able to correct the system deviation anymore.(only with closed loop or vector control )
C00567 Compliance with the load requirementsIf required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control
123 Motor management / encoder
8061022 FCH1: Switching frequency reductionLoad-dependent switching frequency reduction
C00590 Compliance with the load requirementsIf required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control
123 Motor management / encoder
8061023 FCH2: Maximum speed for FchopMaximum speed for chopper frequency has been reached.The maximum speed has been exceeded depending on the switching frequency.
C00588 Correct selection of the maximum speed depending on the switching frequency.For details see Limiting maximum output frequency
123 Motor management / encoder
8061024 OC14: Direct-axis current controller limitationThe limitation of the direct-axis current controller is active
C00570/1 Compliance with the load requirements, if required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control
123 Motor management / encoder
8061025 OC15: Cross current controller limitationThe limitation of the cross current controller is active
C00570/2 Compliance with the load requirements, if required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor controlCheck parameter setting of the current controller with regard to the motor controllers (e.g. reduce Vp)
123 Motor management / encoder
8061026 OC16: Torque controller limitationActuator limitation according to speed controller
C00570/3 Compliance with the load requirements, if required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control
123 Motor management / encoder
8061027 FC1: Field controller limitationThe output of the field controller has reached its maximum limit value. The drive is at the torque limit in the field weakening range.
C00570/4 Compliance with the load requirements, if required, correction of dimensioning or reduction of the setpoint from the field weakening range.For details see motor control
123 Motor management / encoder
8061033 OC6: I2xt overload - motorThermal overload of the motor
C00606 Compliance with the load requirements, if required, correction of dimensioning. With control type VFCplus:Check of the Vmin boost, see C00016For details see Setting Vmin boost
123 Motor management / encoder
8061073 LP1: Motor phase failureMotor phase failure - power sectionThis error message is displayed if a motor phase carries less current of one half-wave than set in C00599.
C00597 Checking the motor connections and the corresponding plug connector at the device and, if required, the motor terminal box.Check the trigger threshold C00599.
123 Motor management / encoder
8061128 SD10: Speed limit for feedback systemMaximally permissible speed of the feedback system has been reached
C00607 Reduce speed of the rotation shaft / feedback system.nEncoder ≤ (fmax x 60) / encoder incrementsAt fmax = 10 kHz
123 Motor management / encoder
8061133 SD3: Feedback system open circuit C00586 Check wiring of the feedback system and its terminals.
125 Analog I/O integrated
8192001 An01: AIN1 I < 4 mA C00598/1 Check wiring of the analog input terminal for open circuit.Check minimum current values of the signal sources.
127 Extension module slot 1
8323074 CE04: MCI communication error C00150/1
127 Extension module slot 1
8323087 CE0F: MCI control word"SetFail" (bit 14) of the wMciCtrl control word of the LS_DriveInterface is set.
C00594/2 Cause or signal source which sets the "SetFail" bit (bit 14) has been detected at the bus (e.g. PROFIBUS).
Subject area Error no. Error cause Error response
Remedy by the user
No. Name
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Error messages of the operating system
131 CAN integrated (general)
8585216 CE4: CAN Bus OffBus is switched offThe device has detected a CAN bus off state. Too many faulty telegrams are located on the bus.
C00592/2 Check wiring and bus terminating resistor.Check the identical baud rate of each node.Check the bus for electrical interferences which can be caused by switching or plugging operation.
131 CAN integrated (general)
8585222 CA06: CAN Message ErrorGeneral CAN message error
C00592/1 A faulty CAN telegram has been detected.
131 CAN integrated (general)
8585223 CA07: CAN Bus WarningIf the counter for incorrectly transmitted or received CAN telegrams has a value > 96, see C00372/1 ... /2
Note: The C00345 code shows the current CAN error status.
C00592/3 Check wiring and bus terminating resistor.Check the identical baud rate of each node.Check the bus for electrical interferences which can be caused by switching or plugging operation.
131 CAN integrated (general)
8585224 CA08: CAN Bus StoppedThe device has received a CAN-Stopped-NMT telegram
C00592/4 Check NMT master
131 CAN integrated (general)
8585231 CA0F: CAN control word"SetFail" (bit 14) of the wCANCtrl control word of the LS_DriveInterface is set.
C00594/2 Cause or signal source which sets the "SetFail" bit (bit 14) has been detected at the bus (e.g. CAN).
135 CAN process data object (PDO)
8547361 CE1: CAN RPDO1CAN Receive PDO1 has no reception during the time set in C00357/1.
C00593/1 Check the COB-IDs.Check the transmission of PDOs to this Receive object.Adapt time setting for CAN Receive PDOx in C00357/x.135 CAN process data
object (PDO)8547362 CE2: CAN RPDO2
CAN Receive PDO2 has no reception during the time set in C00357/2.
C00593/2
135 CAN process data object (PDO)
8547363 CE3: CAN RPDO3CAN Receive PDO3 has no reception during the time set in C00357/3.
C00593/3
140 Device configuration
9175053 MCI1: Module missing/incompatibleThe optional communication module has been removed or there is a connection problem or incompatibility with the standard device.
C01501/2 Check connection between the communication module and standard device.Check if the module is plugged in correctly.In case of an incompatibility, either the module or the software of the standard device is out of date. In this case, please contact Lenze.
144 Parameter set 9437185 PS01: No memory moduleMemory module is not plugged in.Memory module is either not available or not snapped into place correctly.
5: Warning Please plug in memory module or ensure that the module is snapped into place.
144 Parameter set 9437186 PS02: Par. set invalidParameter set storage is invalid due to incomplete saving of the parameter set (e.g. by voltage failure or removal of the memory module during the saving process).
1: Fault - pulse inhibit ("Fault")
Please ensure during the saving process that the voltage supply is maintained and the module continues to be plugged into the memory location.
144 Parameter set 9437187 PS03: Par. set device invalidAn incompatibility of the parameter set is caused e.g. when the memory module of an 8400 HighLine is plugged into an 8400 StateLine or the parameter set in the memory module has a higher version than expected by the standard device.
1: Fault - pulse inhibit ("Fault")
When the memory modules are exchanged, observe the downward compatibility:- OK: StateLine V2.0 to StateLine V3.0- OK: StateLine V2.0 to HighLine V2.0.- Not OK: HighLine Vx.x to StateLine Vx.x- Not OK: StateLine V3.0 to StateLine <V3.0
144 Parameter set 9437188 PS04: Par. set Mci invalidParameter set Mci is invalid.An incompatibility of the parameter set is caused e.g. when the MCI module parameters in the memory module do not match the plugged MCI module.
1: Fault - pulse inhibit ("Fault")
When the memory modules are exchanged, observe the downward compatibility.---> see remedy for PS03
144 Parameter set 9437191 PS07: Par.set mem. module invalidParameter set of memory module is invalidThe error occurs while loading the parameter set.The memory module plugged in the device lacks a code or a code is incorrect.
1: Fault - pulse inhibit ("Fault")
Internal error Please contact Lenze.
144 Parameter set 9437192 PS08: Par. set device invalidParameter set of the device is invalid.The error occurs while loading the parameter set.One code in the device is incorrect.
1: Fault - pulse inhibit ("Fault")
Internal error Please contact Lenze.
Subject area Error no. Error cause Error response
Remedy by the user
No. Name
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144 Parameter set 9437193 PS09: Par.set invalidCode format is invalidThe error occurs while loading the parameter set.
1: Fault - pulse inhibit ("Fault")
Internal error Please contact Lenze.
145 Device firmware (internal error)
9502744 dF18: BU RCOM errorError - RCOM power section
1: Fault - pulse inhibit ("Fault")
Internal error Please contact Lenze.
145 Device firmware (internal error)
9502745 dF25: CU RCOM errorError - RCOM control section
1: Fault - pulse inhibit ("Fault")
Internal error Please contact Lenze.
145 Device firmware (internal error)
9502753 dF21: BU WatchdogWatchdog power section
1: Fault - pulse inhibit ("Fault")
Internal error Please contact Lenze.
145 Device firmware (internal error)
9502755 df10: Auto Trip ResetToo frequent auto trip reset
C00189 Check the error cause due to which the auto trip reset is activated. Remove the error cause and carry out the error reset manually.
145 Device firmware (internal error)
9502770 dF50: Retain errorError while accessing retain dataInternal hardware error or after a firmware download no mains switching has been carried out.
1: Fault - pulse inhibit ("Fault")
The device must be returned to Lenze.Carry out mains switching after a firmware download.
400 Device hardware is defect
26214409 dH09: EEPROM power sectionPower section EEPROM error, internal hardware error.
1: Fault - pulse inhibit ("Fault")
The device must be returned to Lenze.
400 Device hardware is defect
26214416 dH10: Fan failureFailure of the device fan1.) The short-circuit check of the fan connection terminals has tripped or2.) the speed monitoring of the fan has tripped.
C00566 1.) Check fan for short circuit or, if required,2.) clean fan
400 Device hardware is defect
26214505 dH69: adjustment faultAdjustment data error - power section
1: Fault - pulse inhibit ("Fault")
The device must be returned to Lenze.
444 PROFIBUS fieldbus
29131056 Profibus WatchdogMonitoring time exceeded
C13880/1 Check cables and terminations, cable breakage or failure of the DP master
444 PROFIBUS fieldbus
29131057 ProfibusLeave Data_Exchange status
444 PROFIBUS fieldbus
29131058 Profibus WatchdogDP-V1 MSC2 monitoring time exceeded
444 PROFIBUS fieldbus
29119793 MemoryNo access to EEPROM, internal error
Exchange module
444 PROFIBUS fieldbus
29119794 MemoryRead error on EEPROM, internal error
Exchange module
444 PROFIBUS fieldbus
29119795 MemoryWrite error on EEPROM, internal error
Exchange module
444 PROFIBUS fieldbus
29123616 FaultLenze setting loaded, internal error
Exchange module
444 PROFIBUS fieldbus
29122577 FaultRestart after watchdog reset, internal error
Exchange module
444 PROFIBUS fieldbus
29110528 Connection to 8400 standard device lost, internal error
Exchange module
444 PROFIBUS fieldbus
29122817 Software error, internal error Exchange module
444 PROFIBUS fieldbus
29122576 CPU watchdog reset, internal error Exchange module
444 PROFIBUS fieldbus
29122816 Software error, internal error Exchange module
980 US01: User error 1 (C00581/1 x 0x0400000)+(980 x 0x10000) + (C00161/1)
US01: User error 1User error 1 of the LS_SetError_1
C00581/1 Defined by the user
Subject area Error no. Error cause Error response
Remedy by the user
No. Name
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Error messages of the operating system
981 US02: User error 2 (C00581/2 x 0x0400000)+(981 x 0x10000) + (C00161/2)
US02: User error 2User error 1 of the LS_SetError_1
C00581/2 Defined by the user
982 US03: User error 3 (C00581/3 x 0x0400000)+(982 x 0x10000) + (C00161/3)
US03: User error 3User error 3 of the LS_SetError_1
C00581/3 Defined by the user
983 US04: User error 4 (C00581/4 x 0x0400000)+(983 x 0x10000) + (C00161/4)
US04: User error 4User error 4 of the LS_SetError_1
C00581/4 Defined by the user
Subject area Error no. Error cause Error response
Remedy by the user
No. Name
8400 HighLine C | Software ManualError managementSystem block LS_SetError_1
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9.8 System block LS_SetError_1
This function block serves to assign up to four user-defined events to one response each.
The resulting error number has the following specifications:
Error type can be set via C00581 Error type ( 298)
Subject area number 980 ... 983 ("user error")
Error_ID can be set via C00161 Error ID ( 299)
Available function blocks: 1
Inputs
Parameter
Identifier/data type Information/possible settings
bSetError1 ... bSetError4BOOL
Input
Identifier/data typeIndex
Possible settings Information
C00161 /1 ... 4 0 ... 65535 Error ID
C00581 /1 ... 4 Response
0 ... 6 0: No response1: Pulse inhibit fault2: Trouble3: Quick stop fault4: Warning locked5: Warning6: Information
LS_SetError_1 ?
3
1
4 5
7 9
11
010
8
C00581 / 1 ... 4
bSetError1
bSetError2
bSetError3
bSetError4
Fault
Trouble
TroubleQSP
Warning
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Drive diagnostics & fault analysis
9.9 Drive diagnostics & fault analysis
9.9.1 Maloperation of the drive
Maloperation Cause Remedy
Motor does not rotate
DC-bus voltage is too lowNote: red LED is blinking every second,display in keypad: LU
Check mains voltage
Controller is inhibitedNote:green LED is blinking, display in keypad:
Deactivate controller inhibitNote: Controller inhibit can be set via several sources !
Automatic start is inhibited (C00142 = 0)
LOW/HIGH edge at RFRIf required, correct starting condition with C00142
DC-injection braking (DCB) is active Deactivate DC injection brake
Mechanical motor brake is not released Release mechanical motor brake manually or electrically
Quick stop (QSP) is active Note: Keypad display:
Deactivate quick stop
Setpoint = 0 Select setpoint
JOG frequency = 0 at activated JOG setpoint Select JOG setpoint with C00037 .... C00039
Trouble is active Clear fault
With C00006 = 4, "vector control" has been set, but no motor parameter identification has been carried out
Identify motor parameters (C00002/23)
Assignment of several mutually exclusive functions with a signal source in C00701
Correct configuration in C00701
Motor rotates irregularly
Motor cable is defective Check motor cable
Maximum motor current in motor or generator mode is set too low
Adapt settings to the application with C00022 or C00023.
Motor is underexcited or overexcited Check parameter setting with C00006, C00015 , C00016
Rated motor data (stator resistance, speed, current, frequency, voltage) and cos ϕ and/or magnetising inductance is not adapted to the motor data
• Manual adaptation of the motor data with C00084, C00087, C00088, C00089, C00090, C00091, C00092
or • Identify motor parameters with C00002/
23
Motor windings are wired incorrectly Reverse from star connection to delta connection
Motor consumes too much current
Umin boost selected too great Correct setting with C00016
V/f base frequency has been selected too low Correct setting with C00015
Rated motor data (stator resistance, speed, current, frequency, voltage) and cos ϕ and/or magnetising inductance is not adapted to the motor data
• Manual adaptation of the motor data with C00084, C00087, C00088, C00089, C00090, C00091, C00092
or • Identify motor parameters with C00002/
23
Motor parameter identification is aborted with error LP1
Motor is too small compared to the rated device power (>1 : 3)
Use device with lower rated power
DC injection brake (DCB) is active via terminal
Deactivate DC injection brake
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Drive behaviour with vector control is not satisfactory
different Optimise or manually adapt vector control
Identify motor parameters with C00002/23
Torque dip in field weakening rangeormotor stalling when being operated in the field weakening range
Motor is overloaded Check motor load
Motor windings are wired incorrectly Reverse from star connection to delta connection
V/f reference point is set too high Correct setting with C00015
Override point of field weakening is set too low
Correct setting with C00080
Mains voltage is too low Increase mains voltage
An asynchronous motor with feedback rotates without control and with too low speed
• The motor phases are interchangedThus the rotating field of the motor is not identical anymore with the rotating field of the feedback system.The drive (V/f characteristic control C00006 = 7) shows the following behaviour:
– The motor rotates faster by the value set in C00074 than the speed setpoint. After controller enable, the controller does not stop when the speed setpoint = 0 or at quick stop (QSP).
– The motor current to be set depends among other things from the set value of the Vmin boost and can rise up to Imax.
This may cause the fault message "OC5: Ixt overload".
Check the phase position of the motor cable
If possibleoperate the motor with deactivated feedback (C00025 = 6) and check direction of rotation of the motor
Motor phase (LP1) monitoring does not respond if the motor phases are interrupted
Monitoring is not active (C00597 = 0) Activate monitoring with C00597 = 1
Maloperation Cause Remedy
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Drive diagnostics & fault analysis
9.9.2 Operation without mains supply
The following codes have the value "0" if the mains supply is switched off and the external24 V supply of the controller is switched on:
C00050
C00051
C00052
C00053
C00054
C00058
C00061
C00064 /1 ... /3
C00066
C00177 /1
C00178 /0 /1
C00308
C00310
C00725
8400 HighLine C | Software ManualFieldbus interface
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10 Fieldbus interface
The 8400 frequency inverters can participate in the data transfer of an available fieldbussystem thanks to pluggable communication modules.
The main advantages of a communication module are
to parameterise,
control, and
diagnose the drive system via the bus.
The following fieldbuses are supported by the 8400 frequency inverter:
PROFIBUS DPV1 - slave
Ethernet non-real-time
– ProfiNet IO V2 (in preparation)
– Powerlink BasicMode (in preparation)
Ethernet real-time
– Ethernet POWERLINK (in preparation)
– EtherCat (in preparation)
The selection list for the control module includes the "control via MCI" option for everytechnology application which provides a quick and easy way of setting up a control for thedrive controller via the fieldbus interface.
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Process data transfer
10.1 Process data transfer
The process data serve to control the controller. Thus the transfer of the process data is time-critical.
The processing cycle is 1 ms, independent of the prevailing plugged-in bus system and type of frequency inverter.
The process data transfer is carried out cyclically between the master system and the controllers. Current input and output data are permanently exchanged. 16 words per direction are exchanged with the 8400 HighLine frequency inverter.
The process data can directly be accessed by the master computer at the bus system. The process data are accessed via the port blocks LP_MciIn and LP_MciOut (see function block interconnection of the Engineer). These port blocks are also called process data channels.
The process data are not saved in the controller.
[10-1] Outer and inner data transfer between bus system, controller, and function block interconnection
LP_MciIn LP_MciOut? ?
wState
B0 B0
B1 B1
B2 B2
B3
B14
B15B15
wCtrl
wIn2
wOut4
wOut3
wIn3
wOut5wIn4
wIn5 wOut6
Field bus
8400
Application
FB interconnection
Communication module
MCI interface
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Voltage supply
Depending on the complexity and functional range of the fieldbus, the communicationmodules are supplied by the standard device or an external 24 supply at the module.
The external 24 V voltage supply of the communication module is required if the supply ofthe standard device fails but the communication via the bus is to continue.
Parameter setting of the communication modules
All codes which must be parameterised for establishing the fieldbus communication aresaved in the memory module of the controller.
The archived data can be addressed by all bus systems supported by the controller.
Hotplug
The communication module (MCI module) can be plugged in/out while the controller isswitched on. When the module is plugged in, it is automatically detected and checked forplausibility regarding the function and version.
Fieldbus-specific device profiles and PDO mapping
When specific bus systems are used, the controller is to behave according to a defined,manufacturer-spanning standard. The following definitions have been made for this:
Definitions of the device state machine (e.g. DSP402, DriveCOM, ProfiDrive etc.)
Definition of the bit assignment of control and status words
Definition of signal scaling (on a limited scale)
Definition of parameter scaling (on a limited scale)
Definition of the process data mapping
These device profiles are not mapped in the communication module since some definitionshave a strong effect on the device-internal behaviour and the device profiles are notuniform regarding this matter.
The task of the communication modules is
– to address parameters (SDOs),
– to transfer PDOs and
– the signal mapping of the PDOs.
The process data objects are interpreted in the controller (e.g. the meaning of the control word bits or the speed setpoint selection) and can either be parameterised by predefined use of the PDOs and through PDO mapping or freely configured by a function block editor.
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8400 HighLine C | Software ManualTechnology applications (TAs)
Introduction
11 Technology applications (TAs)
11.1 Introduction
A technology application is a drive solution based on the experience and know-how ofLenze in which function blocks interconnected to a signal flow form the basis forimplementing typical drive tasks.
Please note that the StateLine and HighLine device types differ with regard to the number,functional range, and flexibility of the technology applications offered.
This chapter describes the management and details of the technology applications of the8400 HighLine frequency inverter.
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11.1.1 Overview
Tip!
More technology applications are in preparation
Technology application/application ranges Availability
TA "Actuating drive – speed" ( 319)
• General drive for speed control of– Conveyor drives (connected in a system)– Extruders– Test benches– Vibrators– Travelling drives– Presses– Machine tools– Dosing machines
• 8400 StateLine • 8400 HighLine
TA "Actuating drive – torque"
• Slave drives for material transport– Chain conveyors– S-shaped frame structures– Bilateral tandem drives
• Test facilities– Test benches for tensile stress– Motor test benches– Brake test facilities
• Support of higher-level technology solutions for e.g. traction-controlled winders
In preparation
TA "Electronic gearbox"
• Slitters • Calender drives • Line drives • Conveying belts • Vibrators • Roller mills • Stretching machines • Wire drawing machines
In preparation
TA "Table positioning" ( 391)
Note: This TA requires an external sequence control.
• Transport units • Rotary tables • Storage and retrieval units • Feed drives • Dosing machines • Hoists
• 8400 HighLine
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Introduction
11.1.2 Purpose of the technology applications
The stepped 8400 frequency inverter drive system provides solutions for simple to complexapplication cases - depending on the experience and knowledge about drives and drivetasks on the part of the user.
Some drive tasks are similar in practice so that a few modifications of the correspondingtechnology applications can provide the required result very quickly.
On the one hand a great scope of standard drive tasks for frequency inverters is covered bythe technology applications offered by Lenze, and on the other hand, the user is relievedfrom time-consuming programming activities.
Other important features of technology applications are:
Direct implementation of drive tasks without recreating a function block interconnection inside the device
Operation via keypad and/or operation via convenient operator dialogs in the «Engineer»
Commissioning via few operating and diagnosing parameters (local keypad operation)
Achieving a transparency as high as possible via the integrated functionality of the device by representing signal flow diagrams
Provision of a basic functionality suitable and often sufficient for many applications
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11.1.3 Application cases for a technology application
You should use a technology application if
– the task can be solved completely or to a great extent by the basic functionality of the technology application.
– the end customer does not want to create the comprehensive core functions of the corresponding technology on his own.
– the creation time for a project is to be reduced by using the ready-made technology application
– the end customer wants to build upon the know-how of Lenze.
Do not use technology applications if
– the task is very complex, especially if detailed user knowledge is required to implement the core functionality.
– the use of a technology application significantly surpasses the required functional range of the application.
– the end customer does not want to use ready-made functions of Lenze. In such cases, individual drive solutions with 8400 HighLine frequency inverters can be implemented by using the free function block interconnection. Here, the technology applications integrated in the device can be used as a basis which can be adapted to the requirements by alteration or expansion.
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Software structure of the application function at a glance
11.2 Software structure of the application function at a glance
[11-1] Software structure of the application function
The device comes integrated with technology applications (actuating drive speed, tablepositioning, etc.). These technology applications provide the main signal flow forimplementing a general or particular drive task in the form of a function blockinterconnection of diverse function blocks (application level).
The technology application is provided with an input interface for connecting the controlsignal sources (e.g. main setpoint) and an interface for controlling the device outputs.
The control signals and device outputs are connected to the technology application in theI/O level.
Within the technology application, the main setpoint path affects the motion controlkernel which generates control signals for the motor control and the state control of thecontroller.
Both the control inputs and the control outputs and the entire technology application areprovided with parameters for
setting / parameterising internal functions
STOP
M
M
0
1
n
t
�
...............
..............
Signalinputs
Motion
PIDprocess
controller
Drivecontrol
Motorcontrol
Signaloutputs..............
Setpointgenerator
ParameterisationParameterisation
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displaying actual values
connecting the FBs in the I/O level
All these parameters can be addressed via the diagnostic interface or fieldbuses connected.The parameters are set e.g. via a keypad or diagnostics / user interfaces in the Engineer.
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Software structure of the application function at a glance
11.2.1 How to use the technology applications
1. Select the required technology application on the "Application parameters" tab of the Engineer or on the keypad with code C0005, e.g. C0005 = 1000: "actuating drive – speed".
– When the technology application is selected, a device function and its terminal assignment is preconfigured.
– In the technology application, all function blocks and their parameters are set so that additional programming activities or adaptations for this standard function do not occur.
2. Motor settings are required if the motor is no power-adapted standard motor:
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3. Select the signal source for control signals
– The origin of the main setpoint as a reference value for a controlled process is of particular importance. Therefore, the origin of this signal source is set first. On the "Application parameters" tab (or using code C0007) the main setpoint can, for instance, be defined as constant value via a digital input (terminal control) or as process value via a fieldbus (CAN, PROFIBUS, etc.).
– To commission the selected technology application, the signal sources acting on the process must be considered. The signal sources are, for instance, analog main setpoint and, if required, additional analog setpoint, analog actual PID value and digital control signals. For selection, click the button for the main setpoint (here: analog input 1) and select the required signal from the list of possible signals. As an option, this setting can also be made via the keypad or the function block interconnection in the FB editor (see marking):
[11-2] Signal sources of the TA "Actuating drive - speed", path: "Application parameters" tab --> "Signal flow" button
– Proceed accordingly for other possible signal sources.
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Software structure of the application function at a glance
– The I/O interconnection of the FB editor shows the individual control signals which act on the technology application (in this example TA "Actuating drive - speed"):
[11-3] Interconnection of the signal sources, marking: analog input 1 as main setpoint
4. Switch-on and commissioning
– The technology applications can be operated to a certain extent directly at the frequency inverter via the keypad.
– More comprehensive operating and diagnostic processes are made via the «Engineer» operating software on the PC. Special operator dialogs serve to guide you comfortably through the menus available.
Tip!
Operation and commissioning with the keypad is described in the HardwareManual of the 8400 frequency inverter. The CD supplied with the device containsthe Hardware Manual as PDF file.
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11.3 Introduction to the LS_MotionControlKernel system block
[11-4] MotionControlKernel (MCK)
Depending on the device type, the 8400 frequency inverters are provided with a differentnumber of integrated technology applications, see Overview ( 320).
Each technology application is represented as an application block in the so-called I/O levelof the FB Editor. The application block is interconnected with the system blocks, which areamong other things connected with the peripheral control elements (e.g. setpointpotentiometers) and devices (e.g. encoders). Each application block itself is a function blockinterconnection which can be viewed in the application level of the FB Editor.
Within this function block interconnection the LS_MotionControlKernel system block isused, which is placed between the setpoint generation (e.g. ramp generator, PID processcontroller, etc.) and the motor control.
This system block contains diverse standard functions or basic drive functions that doesnot have to be created by a single function block interconnection, thus minimising theexpense and complexity for the performance of standard functions.
In the MotionControlKernel for instance there is an automatic holding brake control which,depending on the speed setpoint and several other internal digital control signals,activates the holding brake. By the integrated automatic brake operation the user does nothave to manage these control signals.
Further standard functions integrated in the system block are for example
Manual jog, e.g. for manual setting-up operation
Homing for positioning functions of the drive
Position profile generator for positioning functions of the drive
Drive-Control
M
v
M
Motion-Control-Kernel
MotionControlKernel
Brake
Status
machine
(basic drivefunctions)
ManualJog
n
t
�n
t
Profilgen
Machinepar
v
i
Main setvalue
Additionalsetpoint
Additionalsetpoint
Actual PIDvalue
Actual PIDvalue
Digitalcontrolsignals
Digitalcontrolsignals
Setpointgenerator
PIDProcesscontroller
Motorcontrol
Outputs
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8400 HighLine C | Software ManualTechnology applications (TAs)
Introduction to the LS_MotionControlKernel system block
As no technology application with position-controlled movements of the motor shaft isintegrated in the 8400Stateline, the MotionControlKernel only contains the functions
Automatic holding brake operation
Manual jog
Integration of the LS_MotionControlKernel in the signal flow
If the main signal flow of the technology application is considered, theLS_MotionControlKernel FB is placed between the functions constituting the actualtechnology application. For speed-controlled applications like "TA actuating drive speed"this is for example
Motor potentiometer (L_MPot)
Main setpoint generator (L_NSet)
Process controller (L_PCtrl)
Motor control (LS_MotorInterface)
Drive control (LS_DriveInterface)
For a potentially free function block interconnection in the 8400 HighLine frequencyinverter, the deletion or change of the signal flow configuration means the loss of thestandard functions integrated in the LS_MotionControlKernel and the corresponding userinterfaces in the Engineer.
8400 HighLine C | Softw
are Manual
Techn
ology applications (TA
s)In
troduction
to the LS_M
otionC
ontrolK
ernel system
block | Selection of th
e application an
d the con
trol
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11.3.1 Selection of the application and the control mode
The technology application is activated via the parameter C00005 and adapted to the corresponding drive task. For setting theparameters the optional keypad or the Engineer PC program can be used - the PC provides user interfaces that are very easy tooperate.
For the selection of the control mode the parameter C00007 is used. The technology application for instance can be carried out byusing the control terminals of the controller via CAN or simply via the keypad without external components.
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Techn
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block | Selection of th
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Input signals (process setpoints) and digital control signals for the TA Trimming of the input signals via offset and gain Additional functions of the motor potentiometer and the PID process controller Main setpoint generator (fixed setpoints, ramp generator limitations, arithmetic of the additional setpoint) Drive control and motor control MotionControlKernel Optional "General purpose functions", parallel to the main signal flow
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11.3.2 Communication of the user interfaces to the application block
The user interfaces in the Engineer communicate with the application block in the I/O level of the device. If the application level isactivated in the FB editor, a detailed insight into the function block interconnection on the individual functions of the technologyapplication is provided.
User interface in the Engineer (signal flow):
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Application block in the I/O level:
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12 Basic drive functions in the MCK
Basic drive functions described in this chapter:
Holding brake control ( 335)
Tip!
Detailed information about the system block LS_MotionControlKernel, whichprovides the internal interfaces for the MotionControlKernel (MCK) in the FBEditor, can be found in the chapter "Function library". ( 587)
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Holding brake control
12.1 Holding brake control
This basic function serves to control a holding brake with low rate of wear.
Intended use
Motor holding brakes are used to lock axes if the controller is inhibited or in case of "mainsoff" system status. This is not only important for vertical axes but also for e.g. horizontalaxes which may cause various problems if the motion is not controlled.
Examples:
Loss of the reference information after mains OFF and further spinning of the drive.
Collision with other moving machine parts.
Danger!
Please note that the holding brake is an important element of the safety concept of the entire machine.
Thus, proceed very carefully when commissioning this system part!
Stop!
Holding brakes on Lenze motors are not intended for braking during operation. The increased wear caused by braking during operation can destroy the motor holding brake!
Note!
• If an electrically holding (self-releasing) brake is to be controlled instead of an electrically released (self-holding) brake, the trigger signal must be inverted!
Functional settings ( 340)
• For detailed information about the assembly and electrical installation of the motor holding brake, please see the documentation for the motor holding brake.
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12.1.1 Internal interfaces
The system block LS_MotionControlKernel provides the following internal interfaces forthe basic function "Holding brake control" in the FB Editor:
Inputs
Outputs
IdentifierDIS code | data type
Information/possible settings
bBrkReleaseC00833/80 | BOOL
Releasing/applying the brake in connection with the selected operating mode
False Apply brake. • During automatic operation, the internal brake logic controls of
the brake.
True Release brake. • During automatic operation, the internal brake logic is
deactivated and the brake is released. If the brake control has inhibited the controller, this inhibit is deactivated again.
nBrkTorqueAdd_aC00830/68 | INT
Additive torque value in [%] for torque precontrol on starting • For SC (servo control) mode • 100 % ≡ maximum torque (C00057)
Torque precontrol during starting ( 348)
IdentifierData type
Value/meaning
bBrkReleaseOutBOOL
Trigger signal for switching element holding brake control via a digital output • Use bit 0 under C02582 to activate inverted switching element triggering.
Functional settings ( 340)
False Apply brake.
True Release brake.
bBrkReleasedBOOL
Brake control status signal with consideration of the application and release time of the brake
False Brake applied (when the brake application time has elapsed).
True Brake released (when the brake release time has elapsed).
Stop!
The digital outputs are not suitable for the "direct" control of a holding brake!
• Connect the digital output connected to the trigger signal bBrkReleaseOut with a relay or power contactor which switches the brake supply.
• When a power contactor is used, the response and release time of the earth contact is added to the response and release time of the brake.
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Holding brake control
12.1.2 Parameter setting
How to get to the parameterisation dialog for the holding brake control:
1. On the FB Editor tab:Open the parameter list for the system block LS_MotionControlKernel in the application level.
2. In the Parameter list... dialog box, change to the Holding brake control tab.
Parameterisation dialog in the »Engineer«
Danger!
A faultless brake control function requires a correct setting of the different deceleration times in the following parameters!
A wrong setting of the delay times can cause a faulty control of the brake!
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Short overview of parameters for holding brake control:
12.1.2.1 Operating mode
For different applications and tasks, different operating modes are available underC02580. The selected operating mode determines whether the holding brake control isused and how the holding brake will be switched.
Mode 0: Brake control off
In this mode, brake control is switched off (not active).
The trigger signal bBrkReleaseOut for the holding brake control switching element is set to FALSE.
The status signal bBrkReleased is set to FALSE.
Parameter Information Lenze setting
Value Unit
C02580 Holding brake: operating mode Brake control off
C02581/1 Holding brake: switching threshold 5.00 %
C02581/2 Holding brake: hysteresis for release 1.00 %
C02581/3 Holding brake: hysteresis for brake application 1.00 %
C02582 Holding brake: setting 0
C02589/1 Holding brake: application time 100 ms
C02589/2 Holding brake: release time 100 ms
C02589/3 Holding brake: waiting time status 100 ms
C02593/1 Holding brake: actual value monitoring 0.000 ms
C02593/2 Holding brake: application delay 0.000 ms
C02610/1 MCK: holding brake ramp time synchr. 2.000 s
C02607 Holding brake: status -
C00830/68 MCK: nBrkTorqueAdd_a - %
C00833/80 MCK: bBrkRelease -
Highlighted in grey = display parameter
Note!
In the Lenze setting, the mode 0 is preset to get into a safe state after the mains is switched on.
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Holding brake control
Mode 11: Manual control
In this mode, brake release and brake application can be directly controlled via the inputbBrkReleaseBrake without special logic or automatic.
Setting pulse inhibit or controller inhibit has no influence on the trigger signal bBrkReleaseOut for the holding brake control switching element.
After brake activation and elapse of the brake application time, the controller is inhibited automatically by the basic function "holding brake control".
Tip!
You can you the mode 11 to easily check if the brake switches correctly.
Mode 12: Automatic control
In this mode, the brake is controlled automatically.
If the requested speed setpoint reaches a parameterisable upper speed threshold that allows traversing of the drive, the brake will be released and operation enabled.
On the other hand, if speed setpoint and actual speed fall below a parameterisable lower speed threshold, the brake will be applied under consideration of different time parameters.
The brake will also be activated automatically if quick stop is activated in the drive, e.g. by a device command or as response to an error, and in the event of controller inhibit or pulse inhibit.
After automatic brake activation and elapse of the brake application time, the controller is inhibited automatically by the basic function "holding brake control".
Tip!
The 2/12 mode is the common mode to control the brake.
In this mode, the input bBrkReleaseBrake should be permanently set to FALSEunless manual release is required.
When bBrkReleaseBrake = TRUE, the brake is permanently released and theautomatic control cannot apply the brake.
Related topics:
TroubleQSP ( 63)
Response to pulse inhibit ( 346)
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12.1.2.2 Functional settings
Under C02582, the following bit-coded functional settings can be selected:
Related topics:
Response to pulse inhibit ( 346)
Torque precontrol during starting ( 348)
Bit Option Information
Bit 0 Control inverted Activation of inverted control • "1" ≡ Inverted logic of trigger signal for holding brake control
switching element
Bit 1 nAct < nMin at CInh Brake response in case of pulse inhibit • "1" ≡ With pulse inhibit, the actual speed value is monitored. The
holding brake is applied when the actual speed reaches the "Application" threshold value.
• Note: This function is used to avoid the wear of the holding brake of a drive with horizontal travel path when the controller is inhibited and rotation occurs.
Bit 2 Inverted precontrol Precontrol inversion • "1" ≡ The direction of the precontrol value before setting the
release signal of the holding brake is inverted.
Bit 3 Horizontal/winding technology Direction of the axis • "1" ≡ The direction of the axis is horizontal or rotary. The
gravitational acceleration does not cause any movement. • "0" ≡ The direction of the axis is vertical. The gravitational
acceleration does not cause any movement.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
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olding brake con
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12.1.2.3 Time response of the brake (time diagram)
[12-1] Time diagram
C02581/1: Switching threshold C02581/2: Hysteresis for release C02581/3: Hysteresis for application C02593/2: Application delay C02610/1: Ramp time for setpoint speed approaching C02589/1: Application time C02589/2: Release time C02593/1: Actual value monitoring time Time slot for magnetising/precontrol
CINH = controller inhibit
Speed setpoint reaches upper switching threshold, release process starts.
Speed setpoint reaches lower switching threshold, application delay starts.
After the application delay, the speed threshold is no longer below the lower switching threshold, therefore, no application process is started.
After the application delay, speed threshold and actual value are below the switching threshold, the application process starts.
After the application delay, the actual value is not yet below the lower switching threshold, the actual value monitoring time starts.
After the actual value monitoring time, the actual value is still not yet below the lower switching threshold, the application process starts.
TOffDelayTOffDelayTOffDelayTOffDelayTOffDelay
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12.1.2.4 Switching thresholds
Upper speed threshold for brake release:
Switching threshold (C02581/1) + hysteresis for release (C02581/2)
Lower speed threshold for brake application:
Switching threshold (C02581/1) - hysteresis for application (C02581/3)
Tip!
The lower speed threshold for brake application should be set to approximately5 ... 20 % of the maximum speed to minimise the wear of the brake and provide foran optimum brake reaction by a low grinding of the brake.
Stop!
Do not set the lower speed threshold for brake application too high to prevent an excessive wear of the brake!
Note!
For the speed comparison, only the absolute motor speed value is considered, the direction of rotation is not taken into account.
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Holding brake control
12.1.2.5 Closing and opening time
[12-2] Definition of the closing and opening time taking the PM brake as an example
Tip!
The closing and opening times do not only vary between the brake types but arealso dependent on the basic conditions in the plant:
• Parameters of the hardware (cable length, temperature, height of supply voltage, etc.)
• Contact elements used (brake module or contactor at the digital output)
• Type of overvoltage limitation/suppressor circuit
For optimisation purposes, detect in individual cases the response times bymeasurement.
Danger!
A wrong setting of the closing and opening times can cause a faulty control of the brake!
• If the closing time is set too low, the controller is inhibited and the drive becomes torqueless before the brake is closed completely.
C02589/1: Closing time C02589/2: Opening time
CINH = controller inhibit
Every mechanical holding brake comes with a construction-conditioned closing and opening time which must be considered by the holding brake control and is set under C02589.
The closing and opening time of the Lenze holding brake is given in the supplied operating instructions in the "Technical data" chapter.
Closing and opening time that are set too high do not affect safety but may cause long delays in cyclic brake applications.
t
t
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t
CINH
bBRKReleaseOut
IBRK
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[12-3] Oscillogram 1: Current characteristic for the application of a mechanical holding brake (application time: 10.7 ms)
[12-4] Oscillogram 2: Current characteristic for the release of a mechanical holding brake (application time: 36.8 ms)
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Holding brake control
12.1.2.6 Motor magnetising time (only with asynchronous motor)
[12-5] Considering the motor magnetising time taking the PM brake as an example
12.1.2.7 Actual value monitoring
If an actual value monitoring time > 0 s is selected under C02593/1 the actual speed timemonitoring is active.
The monitoring time starts when the speed setpoint has reached the lower switching threshold and the actual speed is still above this threshold. (See Time diagram, case .)
If the actual speed is still above the threshold when the monitoring time has expired, the brake will be automatically applied in the automatic brake control mode (mode 12).
Motor magnetising timeCINH = controller inhibit
When an asynchronous motor is used, first a magnetic field required for the holding torque is created (which is already available when a synchronous motor is used) after the controller inhibit is deactivated.
The motor is internally magnetised for 200 ms by precontrolling the lower speed threshold. The release time set under C02589/2 is considered here.
t
t
�
t
CINH
bBRKReleaseOut
IBRK
Note!
In the Lenze setting, the actual speed time monitoring is deactivated (C02593/1 = "0 s"), i.e. the brake will only be applied when the actual speed has reached the lower switching threshold.
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12.1.2.8 Process when brake is released
1. The controller inhibit is deactivated.
2. The magnetic field required for the holding torque is created in the motor (is already available when a synchronous machine is used).
3. For brake release, the bBRKReleaseOut output is set to TRUE.
4. After the brake opening time has elapsed:
– The bBRKReleased output is set to TRUE.
– The drive synchronises to the already accelerated speed setpoint.
12.1.2.9 Process when brake is closed
1. The motor is decelerated by the "Quick stop" function or by "DC-injection braking", either directly requested by the user or as response to an error.
2. If the speed setpoint and the actual speed have fallen below the lower speed threshold or only the speed setpoint has fallen below the lower speed threshold and the actual value monitoring time has expired:
– The bBRKReleaseOut output is set to FALSE to close the brake.
– The elapse of the brake closing time starts.
3. After the brake closing time has elapsed:
– The bBRKReleased output is reset to FALSE.
– Controller inhibit is set.
12.1.2.10 Response to pulse inhibit
Setting the pulse inhibit causes a load-controlled coasting of the motor until the pulse isenabled again. In the enabled controller, the pulse can be inhibited e.g. due to a DCovervoltage, DC undervoltage or the "Safe torque off" request.
The brake response to pulse inhibit can be parameterised under C02582.
Stop!
For parameterising the response to pulse inhibit under C02582, the energy conditions of the machine should be evaluated first.
The energy stored in the machine can be considerably higher than the permissible switching energy and thus lead to the destruction of the brake if applied directly!
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Holding brake control
Activate brake immediately when pulse is inhibited
If bit 1 is set to "0" under C02582 (Lenze setting), the brake will be immediately appliedwhen the pulse is inhibited to avoid damage to the mechanical components.
Especially when hoist drives are used and the pulse of the frequency inverter is inhibited,it is essential that the brake is applied immediately for safety reasons!
Only activate brake below threshold for brake activation
If bit 1 is set to "1" under C02582, the brake will remain released until the lower speedthreshold is reached to avoid an excessive wear of the brake.
The braking action only takes places through the friction in the load mechanics.
Only when the motor speed has reached the threshold for brake activation, the brake will be closed.
During uncritical operation (horizontal loading condition), delayed brake application maybe required to protect the brake in case of high centrifugal masses.
The command for brake application depends on two conditions:
1. On the settings selected under C02582, in particular:
– Bit 1 = response to pulse inhibit
– Bit 3 = direction of the axis
2. The signal of the rotary transducer which provides for the brake activation when the set threshold has been fallen below.
Related topics:
Functional settings ( 340)
Switching thresholds ( 342)
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12.1.2.11 Torque precontrol during starting
The motor is precontrolled by selecting the lower speed threshold for applying the brake.When the upper speed threshold for brake release is reached, the motor is precontrolled for200 ms with the lower threshold before the brake switches to the release mode.
Via the input nBrkTorqueAdd_a you can select an additive torque in [%].
The direction of the precontrol value can be inverted by setting bit 2 under C02582.
If bit 3 is set to "0" under C02582 (hoist application), a quadrant-related precontrol method (precontrol in motor mode and operation in generator mode during lowering) will be used.
Related topics:
Functional settings ( 340)
Switching thresholds ( 342)
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Brief description of the function
13 TA "Actuating drive – speed"
13.1 Brief description of the function
13.1.1 Basic signal flow
[13-1] Basic signal flow
M
v
M
Motion-Control-Kernel
LS_ManualJog
n
t
�
LS_Brake
n
t
LS_Stop
internalstatus machine
Status
machine
(basic drivefunctions)
Mainsetpoint
Additionalsetpoint
Additionalsetpoint
PIDactual value
PIDactual value
Digitalcontrolsignals
Digitalcontrolsignals
Setpointgenerator
PIDprocess
controller
Drivecontrol
Motorcontrol
OutputsMotionControlKernel
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13.1.2 Brief description of the properties
Configurable input signals for terminal or bus control
Free configuration of output signals
Via code C00007, predefined process data connection to the fieldbus
Offset, gain, and negation of main setpoint, additional setpoint, actual process controller value
Up to 15 fixed setpoints for speed and ramp time
Adjustable setpoint ramp times
Freely selectable, variable ramp shape
Automatic brake control (function depends on the device type)
Quick stop (QSP) with adjustable ramp time
Motor potentiometer (MPot, can be switched on/off)
Process controller
Load monitoring (in preparation)
Integrated general-purpose function blocks
Interface to the safety module (optional)
Integration of encoder feedback
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Brief description of the function
13.1.3 Functions of the TA "Actuating drive-speed"
The 8400 frequency inverters are provided with the following functions:
Function StateLine HighLine
Connection of the device I/Os • Can be selected via preconfigured connections (C00007) to the device inputs and outputs
• Free configuration
Signal flow generation, ca be changed in the FB editor
• Can be selected via preconfigured technology applications (C00005) • Can be changed via the "general-purpose" functions
FB editor, I/O level Yes, can be edited
FB editor, application level For diagnostics purposes For diagnostics purposes and free function changes
Motor control types • Open loop operation • Closed loop operation
YesYes
YesYes
Feedback operation No Yes
Speed setpoint selection via jerk-reduced ramp characteristic
Yes Yes
Number of fixed setpoints 15 15
Number of ramp times 15 15
Different comparison functions for actual speed with digital feedback
Yes Yes
Reversal of CW/CCW rotation via digital signal
Yes Yes
Set/reset error Yes Yes
Diagnostics of the digital and analog inputs and outputs
Yes Yes
Configurable connection of the control and status signals
Yes Yes
Integrated automatic brake operation
Yes Yes
Can be expanded by function block interconnection
In the I/O level possible Yes
Blocking speeds Yes Yes
Motor potentiometer function Yes Yes
PID process controller Yes Yes
Brake handling No Yes
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13.1.4 Selecting the control source
[13-2] Selection of the control source on the "Application parameters" tab
After selecting the application under code C00005 (e.g. "actuating drive - speed"), thecontrol source for the application is selected under code C00007. Each selection goes alongwith a predefined control configuration for the application.
The following control sources are available (see arrow):
1. Terminal control
– Selection 10, terminals 0 (Lenze setting)This selection enables simple drive control via the digital and analog device control connections (e.g. using the setpoint box available in the Lenze accessories program, see www.Lenze.com ---> Home/Services&Downloads/Teachware).
– Selection 12, terminals 2
– Selection 14, terminals 11
2. Control via keypad / PC
– Selection 20, keypad
– Selection 21, PC
3. Control via the CAN on board
– Selection 30, hand-remote control for CAN (in preparation)
4. Control via the fieldbus, e.g. PROFIBUS
– Selection 40, hand-remote control for MCI (in preparation)
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Brief description of the function
The device inputs and device outputs referred to as system blocks at Lenze provide theinterface of the application to the peripherals of the controller. They include digital andanalog input and output interfaces (e. g. "LS_DigitalInput") and communication interfaces(e.g. "LP_CanOut1" for CAN or "LP_MciOut" for PROFIBUS as external fieldbus):
[13-3] Schematic structure of an application solution
The interfaces are preconfigured under code C00007. For each configuration of C00007 ≥10, the input and output interfaces for the application have been pre-assigned.
For information on the input and output pre-assignments for the different control sources,please see the chapters :
Overview of terminal assignment ( 354)
Terminal pre-assignment in detail ( 357)
The pre-assignment as seen from the application's view is described in the chapter
Pre-assignment of the application block LA_NCtrl ( 368).
If the described pre-assignment of the application block is inappropriate for the drive task,an individual configuration, e.g. by means of the FB editor or the "Terminal assignment"tab, can be carried out. The configuration tables stored in the drive contain a selection ofthe most frequently used signals, so that it is possible to carry out a quick commissioningwith only few operator control actions:
User-defined terminal assignment ( 368)
System blocks on the device input side Connections between the device application and the input and output interfaces, pre-assignment through
selection with C00007 ≥ 10 Technology application, selection with C00005 System blocks on the device output side
X5
X4
X3
+=
DI3
DI2
DI4
DI5
DI6
DI7
GI
24I
DI1
RFR
24E
LS_AnalogOutput
LS_DigitalOutputLA_NCtrl
LP_CanIn
LS_ParFree_a
LS_AnalogInput
LS_DigitalInput
LS_ParFix
A2I
AR
A1U
A2U
A1I
GA
24O
DO1
DO3
GO
DO2LP_CanOut
� � � �X3
O1U
O1I
O2U
O2I
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13.2 Terminal assignment in the Lenze setting
For each control mode, there exists a clear assignment between the control connectionsavailable on the device peripherals and the control signals provided by the device software.This assignment is referred to as terminal assignment.
13.2.1 Overview of terminal assignment
Input connections for terminal control
Output connections for terminal control
Connection
C0007 = 10 (terminals 0)
C0007 = 12 (terminals 2)
C0007 = 14 (terminals 11)
C0007 = 16 (terminals 16)
Digital input terminals
X5/RFR Controller enable LA_NCtrl: bFailReset
X5/DI1 Fixed setpoint 1LA_NCtrl: bJogSpeed1
Change of direction of rotation
LA_nCtrl:bSetSpeedCcw
Fixed setpoint 1LA_NCtrl: bJogSpeed1
X5/DI2 Fixed setpoint 2LA_NCtrl: bJogSpeed2
Activate DC brakeLA_NCtrl: bSetDCBrake
Fixed setpoint 2LA_NCtrl: bJogSpeed2
X5/DI3 Activate DC brakeLA_NCtrl: bSetDCBrake
Quick stop LA_NCtrl: bSetQuickstop
Motor potentiometer, speed higher
bMPotUp
CW rotation quick stopLA_nCtrl: bRLQCw
X5/DI4 Change of direction of rotation LA_NCtrl: bSetSpeedCcw
Motor potentiometer, speed lowerbMPotDown
CCW rotation quick stopLA_nCtrl: bRLQCcw
X5/DI5 - - - -
X5/DI6
X5/DI7
Analog input terminals
X3/A1UX3/A1I
Speed setpoint (scaling: 10V = 100% ⋅ [C0011])LA_NCtrl: nMainSetValue_a
X3/A2UX3/A2I
- - - -
Connection
C0007 = 10 (terminals 0)
C0007 = 12 (terminals 2)
C0007 = 14 (terminals 11)
C0007 = 16 (terminals 16)
Digital output terminals
X4/DO1 Drive is ready to start LA_nCtrl:bDriveReady
X4/DO2 - - - -
X4/DO3
X107/BD1
X107/BD2 -
X101/NO Fault LA_nCtrl:bDriveFail
Analog output terminals
X3/O1U Actual speed (scaling: 10V = 100% ⋅ [value under C0011])LA_nCtrl:nMotorSpeedAct_a
X3/O1I - - - -
X3/O2U
X3/O2I
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Terminal assignment in the Lenze setting
Input connections of the other control sources
Output connections of the other control sources
Connection
C0007 = 20 (keypad) C0007 = 21 (PC) C0007 = 30 (CAN) C0007 = 40 (MCI)
Digital input terminals
X5/RFR Controller enable LA_NCtrl: bFailReset
X5/DI1 - - Quick stop LA_NCtrl: bSetQuickstop
X5/DI2 - -
X5/DI3 Manual jog, positive directionLA_NCtrl: bMANJogPos
X5/DI4 Manual jog, negative directionLA_NCtrl: bMANJogNeg
X5/DI5 - -
X5/DI6
X5/DI7
Analog input terminals
X3/A1UX3/A1I
- - Additional speed setpoint((scaling: 10V = 100% ⋅ [C0011])
LA_NCtrl: nAuxSetValue_a
X3/A2UX3/A2I
- - - -
Connection
C0007 = 20 (keypad) C0007 = 21 (PC) C0007 = 30 (CAN) C0007 = 40 (MCI)
Digital output terminals
X4/DO1 Drive is ready to start LA_nCtrl:bDriveReady
X4/DO2 - - - -
X4/DO3
X107/BD1
X107/BD2 -
X101/NO Fault LA_nCtrl:bDriveFail
Analog output terminals
X3/O1U Actual speed (scaling: 10V = 100% ⋅ [value under C0011])LA_nCtrl:nMotorSpeedAct_a
X3/O1I - - - -
X3/O2U
X3/O2I
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Bus communication, assignment of data words per port
Tip!
The pre-configurations of the control and status words are the same for everyfieldbus system:
Control word and status word of the controller ( 73)
Status word for TA "Speed closed-loop control" ( 75)
Data words C0007 = 30 (CAN) C0007 = 40 (MCI)
Connection to plug connector X1 Connection to communication module (e.g. PROFIBUS, X201 (9-pole SubD socket)
TPDO1 LP_CanOut1 LP_MciOut
wState Status word for CAN control wDriveControlStatus
Status word for fieldbus control wDriveControlStatus
wOut2 Actual speed (scaling: 16384 = 100% ⋅ [value under C0011])nMotorSpeedAct_a
wOut3 Resulting overall setpoint (scaling: 16384 = 100% ⋅ [value under C0011]) nMotorSpeedSet_a
wOut4 - -
wOut5 ... wOut16 (only MCI) -
TPDO2 / TPDO3 LP_CanOut2 /3 -
wOut1 -
wOut2
wOut3
wOut4
RPDO1 LP_CanIn1 LP_MciIn
wCtrl CAN control word wCanDriveControl
Fieldbus control wordwMciDriveControl
wIn2 Speed setpoint (scaling: 16384 = 100% ⋅ [value under C0011]) nMainSetValue_a
wIn3 - -
wIn4 - -
wIn5 ... wIn16 (only MCI) -
RPDO2 / RPDO3 LP_CanIn2 / LP_CAnIn3 -
wIn1 -
wIn2
wIn3
wIn4
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Terminal assignment in the Lenze setting
13.2.2 Terminal pre-assignment in detail
C0007 = 10 (terminals 0)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_NCtrl: bJogSpeed1 X3/A1I
X5/DI2 LA_NCtrl: bJogSpeed2 X3/A2U -
X5/DI3 LA_NCtrl: bSetDCBrake X3/A2I
X5/DI4 LA_NCtrl: bSetSpeedCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
24E+=
DriveFail
CG
CL
CH
X1
DriveReady
Controller enable
Externalsupply
24 V DC
Fixed setpoint 1Fixed setpoint 2
DC brakection of rotation CCw Actual spee
Speed setpo
8400 HighLine C | Software ManualTA "Actuating drive – speed"Terminal assignment in the Lenze setting
358 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 12 (terminals 2)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_NCtrl: bJogSpeed1 X3/A1I
X5/DI2 LA_NCtrl: bJogSpeed2 X3/A2U -
X5/DI3 LA_NCtrl: bSetQuickstop X3/A2I
X5/DI4 LA_NCtrl: bSetSpeedCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Quickstopction of rotation Ccw
DriveReady
Actual speed valu
Speed setpoint
Controller enableFixed setpoint 1Fixed setpoint 2
Externalsupply
24 V DC
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Terminal assignment in the Lenze setting
C0007 = 14 (terminals 11)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_NCtrl: bSetSpeedCcw X3/A1I
X5/DI2 LA_NCtrl: bSetDCBrake X3/A2U -
X5/DI3 LA_NCtrl: bMPOTUp X3/A2I
X5/DI4 LA_NCtrl: bMPOTDown X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Controller enableDirection of rotation Ccw
DC brake activeSpeed higherSpeed lower
DriveReady
Actual speed val
Speed setpoint
Motorpotentiometer
Externalsupply
24 V DC
8400 HighLine C | Software ManualTA "Actuating drive – speed"Terminal assignment in the Lenze setting
360 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 16 (terminals 16)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_NCtrl: bJogSpeed1 X3/A1I
X5/DI2 LA_NCtrl: bJogSpeed2 X3/A2U -
X5/DI3 LA_nCtrl: bRLQCw X3/A2I
X5/DI4 LA_nCtrl: bRLQCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Cw rotation quick stopCcw rotation quick stop
DriveReady
Actual speed valu
Speed setpoint
Controller enableFixed setpoint 1Fixed setpoint 2
Externalsupply
24 V DC
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Terminal assignment in the Lenze setting
C0007 = 20 (keypad)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
SAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning
C2/1C7C728C11C12C13C15C16C22C87C89C39/1C727/3C727/4C51C54
DriveFail
+=
CG
CL
CH
X1
Engineer: Keypad:
Actual speed value
Controller enable
DriveReady
Externalsupply
24 V DC
All parameters
Quick commissioning
Terminal
Keypad
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C0007 = 21 (PC)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U -
X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
CG
CL
CH
X1
Actual speed valu
Controller enable
DriveReady
Externalsupply
24 V DC
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Terminal assignment in the Lenze setting
C0007 = 30 (CAN)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nAuxSetValue_a(10V = 100% ⋅ [value under C0011])Activation of addition:C00190=1 (NOUT = NSET+NADD)
X5/DI1 LA_NCtrl: bSetQuickstop X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 LA_NCtrl: bMANJogPos X3/A2I
X5/DI4 LA_NCtrl: bMANJogNeg X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
CG
CL
CH
X1
DriveFail
+=
CanIn1
CanOut1
DriveControlStatus
MainSetValue
MotorSpeedActMotorSpeedSet
CANDriveControl
CanIn2 / 3
CanOut2 / 3
DriveReady
Actual speed value
Speed setpoint
Controller enableQuickstop
Externalsupply
24 V DC
pos. directionManualJog neg. direction
8400 HighLine C | Software ManualTA "Actuating drive – speed"Terminal assignment in the Lenze setting
364 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 40 (MCI)
Connection Assignment Connection Assignment
X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nAuxSetValue_a(10V = 100% ⋅ [value under C0011])Activation of addition:C00190=1 (NOUT = NSET+NADD)
X5/DI1 LA_NCtrl: bSetQuickstop X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 LA_NCtrl: bMANJogPos X3/A2I
X5/DI4 LA_NCtrl: bMANJogNeg X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady
X107/BD2 - X4/DO2 -
X4/DO3 -
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
CG
CL
CH
X1
MciIn
MciOut
DriveControlStatus
MainSetValue
4 ...16
MotorSpeedActMotorSpeedSet
DriveFail
+=
3 ...16
MciDriveControl
DriveReady
Actual speed value
Speed setpoint
Controller enableQuickstop
Externalsupply
24 V DC
pos. directionManualJog neg. direction
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Terminal assignment in the Lenze setting
13.2.3 User-defined terminal assignment
What is a user-defined terminal assignment?
Depending on the scope of the customer-specific drive task, more or less changes will haveto be made in the existing Lenze configuration. When the interconnection is changed, theterminal assingment usually has to be changed as well.
A terminal assignment differing from the Lenze configuration is a user-defined terminalassignment.
Which tools can be used to change the terminal assignment?
As configuration tools, both the keypad and the »Engineer« can be used. How to changeterminal assignments using the configuration tools is described in the sections
Changes with the keypad ( 366)
Changes with the »Engineer« ( 367)
We recommend to use the »Engineer« for the implementation of comprehensive user-defined drive solutions.
Tip!
For a detailed description of the use of the FB editor in the »Engineer«, please seethe chapter
Working with the FB Editor ( 442)
Selecting an appropriate Lenze configuration
Select the described technology application for your drive task under C00005 and a controlmode under code C00007. In this way, you will get an application for which the signal flow,the block interconnections, and the terminal assignment are available (see Schematicstructure of an application solution ( 353)).
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Changes with the keypad
Based on this interconnection, the terminal assignment can now be changed using thecodes indicated in the following illustration:
C00700: Analog input signals of the application block
C00701: Digital input signals of the application block
C00620: Analog input signals of system and port blocks
C00621: Digital input signals of system and port blocks
[13-4] Terminal assignment of the input and output signals
Furthermore, you can see from the illustration that, according to the source/drainprinciple, the signals on the input side of the application are assigned to the outputs of theinput system blocks. On the output side of the application, the inputs of the output systemblocks are assigned to the outputs of the application.
Accordingly, it is possible to assign e.g. a signal on an input terminal to several inputs of theapplication block. On the other hand, it is not possible to distribute an application blockinput to several input terminals.
In the example, see illustration [13-5], both inputs (bJogSpeed1 and bJogSpeed2) areconnected to one source (digital input 1, DigIn_bIn1). This can also be seen from the extractof the parameter list. Furthermore you can see that for each application block input(subcode of code C00701) only one source can be entered.
[13-5] Example of the source/drain principle
LS_AnalogInput LS_AnalogOutput
LS_DigitalInput LS_DigitalOutput
Inputs Outputs
Input port
Analog inputs Analog Outputs
Digital Inputs Digital Outputs
Output port
Application
C00701 C00621C00700 C00620
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Terminal assignment in the Lenze setting
Changes with the »Engineer«
Whereas with the keypad the indicated codes must be parameterised, with the»Engineer«, corresponding dialogs are available that make the implementation of changesmuch easier.
It is possible to change terminal assignments
graphically in the FB editor. For this, observe the instructions for Working with the FB Editor.
by entering the changes on the "Terminal assignment" tab.
The terminal assignments can be found on the "Terminal assignment" tab in the»Engineer«, divided into digital and analog terminals:
The same example as used for the keypad is used to show how to change the terminalassignment with the »Engineer«:
[13-6] Example of terminal configuration via the »Engineer«
The input mask shown on the left opensfor the digital input signals.
For further selections for digital input 1,DI1, you can click on the button pointed towith the arrow.
The below dialog opens
The dialog provides a selection of thesignal drains that can be connected withthe signal source "Digital input 1",terminal X5/DI1.
In our example, an additional checkmarkmust be set for the input "bJogSpeed2".
After confirmation with "OK", theconfiguration can be directly displayed inthe FB editor.
8400 HighLine C | Software ManualTA "Actuating drive – speed"Terminal assignment in the Lenze setting
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13.2.4 Pre-assignment of the application block LA_NCtrl
Input connections
Terminal control
Other control sources
Code InputLA_NCtrl:
Code C00007, value:
10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)
700/1 wCANDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl
700/2 wMCIDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl
701/2 bFailReset LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh
701/3 bSetQuickstop - LS_DigitalInput:bIn3 - LS_DigitalInput:bIn3
701/4 bSetDCBrake LS_DigitalInput:bIn3 - LS_DigitalInput:bIn2 -
701/5 bRFG_0 - - - -
700/3 nTorqueMotLim_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a
700/4 nTorqueGenLim_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a
701/8 bSetSpeedCcw LS_DigitalInput:bIn4 LS_DigitalInput:bIn4 LS_DigitalInput:bIn1 LS_DigitalInput:bIn4
701/34 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue
700/7 nMainSetValue_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a
700/8 nAuxSetValue_a - - -
701/9 bJogSpeed1 LS_DigitalInput:bIn1 LS_DigitalInput:bIn1 - LS_DigitalInput:bIn1
701/10 bJogSpeed2 LS_DigitalInput:bIn2 LS_DigitalInput:bIn2 - LS_DigitalInput:bIn2
701/31 bMPotEnable - - LS_ParFix:bTrue -
701/18 bMPotUp - - LS_DigitalInput:bIn3 -
701/19 bMPotDown - - LS_DigitalInput:bIn4 -
701/21 bManJogPos - - - -
701/22 bManJogNeg - - - -
Code InputLA_NCtrl:
Code C00007, value:
20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
700/1 wCANDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_CanIn1:wCtrl LS_ParFix:wDriveCtrl
700/2 wMCIDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LP_MciIn:wCtrl
701/2 bFailReset LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh
701/3 bSetQuickstop LS_Keypad:bSetQuickstop - LS_DigitalInput:bIn1 LS_DigitalInput:bIn1
701/4 bSetDCBrake LS_Keypad:bSetDCBrake LS_ParFree_b:bPar3 LS_CanIn1:bCtrl1_B11 LS_MciIn1:bCtrl1_B11
701/5 bRFG_0 - - LS_CanIn1:bCtrl1_B8 LS_MciIn1:bCtrl1_B8
700/3 nTorqueMotLim_a LS_Keypad:nTorqueMotLim LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a
700/4 nTorqueGenLim_a LS_Keypad:nTorqueGenLim LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a
701/8 bSetSpeedCcw LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4 LS_CanIn1:bCtrl1_B15 LS_MciIn1:bCtrl1_B15
701/34 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue
700/7 nMainSetValue_a LS_Keypad:nMainSetValue LS_ParFree_a:nPar1_a LS_CanIn1:wCtrl LS_MciIn1:wCtrl
700/8 nAuxSetValue_a - - LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a
701/9 bJogSpeed1 LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1 LS_CanIn1:bCtrl1_B12 LS_MciIn1:bCtrl1_B12
701/10 bJogSpeed2 LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2 LS_CanIn1:bCtrl1_B13 LS_MciIn1:bCtrl1_B13
701/31 bMPotEnable LS_Keypad:bMPotEnable - - -
701/18 bMPotUp LS_Keypad:bMPotUp - - -
701/19 bMPotDown LS_Keypad:bMPotDown - - -
701/21 bManJogPos - - LS_DigitalInput:bIn3 LS_DigitalInput:bIn3
701/22 bManJogNeg - - LS_DigitalInput:bIn4 LS_DigitalInput:bIn4
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Terminal assignment in the Lenze setting
Output connections
Terminal control
Other control sources
Code Output Code C00007, output LA_NCtrl, value:
10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)
620/1 LS_AnalogOutput:nOut1_a
nMotorSpeedAct_a
621/1 LS_DigitalOutp.:bRelay bDriveFail
621/2 LS_DigitalOutp.:bOut1 bDriveReady
Code Output Code C00007, output LA_NCtrl, value:
20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
620/1 LS_AnalogOutput:nOut1_a
nMotorSpeedAct_a nMotorSpeedAct_a nMotorSpeedAct_a nMotorSpeedAct_a
620/2 LP_CanOut1:wState - - wDriveControlStatus -
620/3 LP_CanOut1:wOut2 - - nMotorSpeedAct_a -
620/4 LP_CanOut1:wOut3 - - nMotorSpeedSet_a -
620/22 - - - - wDriveControlStatus
620/23 - - - - nMotorSpeedAct_a
620/24 - - - - nMotorSpeedSet_a
620/14 LS_DisFree_a:bDis1_a nMotorSpeedAct_a nMotorSpeedAct_a LP_CanOut1:wOut2 -
620/15 LS_DisFree_a:bDis2_a nMotorSpeedSet_a nMotorSpeedSet_a - -
620/18 LS_DisFree:wDis1 - wDriveControlStatus LP_CanOut1:wState -
621/1 LS_DigitalOutp.:bRelay bDriveFail bDriveFail bDriveFail bDriveFail
621/2 LS_DigitalOutp.:bOut1 bDriveReady bDriveReady bDriveReady bDriveReady
621/21 LS_DisFree_b:bDis1 bDriveReady bDriveReady - -
621/22 LS_DisFree_b:bDis2 bDriveFail bDriveFail - -
8400 HighLine C | Software ManualTA "Actuating drive – speed"Terminal assignment in the Lenze setting
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13.2.5 Quick commissioning
Only a few parameters need to be adapted for the drive. Afterwards, the technologyapplication can be immediately controlled via the digital and analog inputs of thecontroller.
Tip!
For initial commissioning of the frequency inverter, the "Actuating drive - speed"technology application is preconfigured to terminal control in the Lenze setting.
Further parameters can be used to assign the selected values and the display of the actualvalues to other interfaces.
Commissioning step Action
Select technology application Enter TA • C0005: Select TA "Actuating drive – speed" (-->1000)
Set motor Enter motor type (includes all motor nameplate data): • C0086: Enter motor type • C00173: Enter UG limit (mains voltage)Enter control parameters (only if required): • C0070: Gain Vp of the speed controller • C0071: Reset time Tn of the speed controller
Connect I/Os Enter the I/O connection • C0007: Selection from table (-->terminals, 10)
Parameterise application Set speed setpoint • C0011: Define reference speed in [rpm ] • C0012: Set acceleration time in [s] • C0013: Set deceleration time in [s] • C0105: Set QSP deceleration time in [s] • Further codes, e.g. jog values, TI times, brake management, etc.
Save and test Save parameters: • Save all parameters (-->C0002/11 = 1)
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Terminal assignment in the Lenze setting
Commissioning with PC tool
When the device is commissioned using the »Engineer«, commissioning is guided bymeans of dialogs and graphical user interfaces.
8400 HighLine C | Softw
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TA "A
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13.2.6 Description of the signal flow
After the TA "Actuating drive – speed" has been selected, the following signal flow is set:
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Terminal assignment in the Lenze setting
13.2.7 Interface description of the TA "Actuating drive - speed"
13.2.7.1 Control words
Instead of the terminal control (Lenze setting), the bus control can also be selected assignal source for control signals. The 8400 HighLine is provided with CAN as system bus onboard. Other bus systems, as e.g. PROFIBUS, can be adapted via pluggable communicationmodules.
The editor of the »Engineer« serves to connect the port blocks of the communicationtechnology used to the TA. According to the process data mapping set, their outputsprovide the control word.
When a communication module is used, a port block LP_MCIIn/-Out is connected with the wMCIDriveControl input.
When the on-board CAN is used, the signal (16 bits) is transferred from the port block LP_CanIn1 to the input wCANDriveControl:
[13-1] Control of the 8400 HighLine via the on-board CAN
The bit assignment of the control words is identical for both "communication connections"Control word and status word of the controller ( 73).
wCANDriveControl (16-bit word)control word for control via CAN
wMCIDriveControl (16-bit word)control word for control via fieldbus
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
LP_CanIn1 ?
wIn3
wCtrl
wIn2
LS_ParFix ?
bTrue
wDriveCtrl
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13.2.7.2 Setting controller inhibit
As long as one of these controller inhibit sources is set, the drive remains in the controllerinhibited status.
The reason for the "controller is inhibited" status can be detected via the C0158 parameter.
When controller inhibit is set, the drive loses its torque, the machine is coasting.
When the controller inhibit request is reset, the drive synchronises to the actual speed. Forthis purpose,
an automatic flying restart function of the device is activated, if required
the actual speed value is read out from the encoder system (only for feedback operation)
for vector control without feedback the actual speed from the motor model of the motor control is used for synchronisation.
13.2.7.3 Resetting an error
There are several options to inhibit thecontroller:
Terminal 28 (RFG)This signal acts fail-safe and always inhibits the controller. FALSE : controller inhibit is active
Control parameter C002/16.0: controller inhibit is active
bCinh at the control input of the applicationTRUE: controller inhibit is active
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
bDriveFail
A pending error can be reset by a LOW-HIGH edge of this digital control signal ifthe cause of the fault has been eliminated.
If the fault still exists, the error statusremains unchanged.
In the Lenze setting, this input is assignedto the digital input LS_DigitalInput-bCInh(controller inhibit). This means thatswitching the controller inhibit alsoacknowledges the error.
bDriveFail
CInhActive
bQSPlsActive
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Terminal assignment in the Lenze setting
13.2.7.4 Executing quick stop (QSP)
13.2.7.5 bSetDCBrake
Advantage of the DC-injection braking:
The DC-injection braking provides the opportunity to influence the braking time bychanging the motor current or braking torque.
The braking effect stops when the rotor is at standstill.
13.2.7.6 bRFG_Stop
The quick stop function is activated viathis control signal. TRUE = quick stop isactive. Here, the drive ramps down theQSP ramp C0105 to speed = 0 and
keeps the motor at n = 0 if closed loop is active
sets pulse inhibit if auto-DCB is activated ( C00019 )
bDriveReady
bDriveFail
bCInhActive
bQSPlsActive
The bSetDCBrake control signal brakes thedrive to standstill.
TRUE = SetDCBrake is active.
Standstill ramps can be adjusted.
Braking process: DC-injection braking.
Note!
Holding braking is not possible when using this braking mode.
CInhActive
bQSPlsActive
bSpeedCcw
bSpeedActCompare
When bRFG_Stop = TRUE, the momentaryactual setpoint is "frozen".
The speed, for instance, of a running rampprocess is immediately kept constantwhen bRFG_Stop is activated. At the sametime, the acceleration/deceleration jumpsto the value "0".
bQSPlsActive
bSpeedCcw
bSpeedActCompare
bOverloadActive
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13.2.7.7 bRFG_0
13.2.7.8 nVoltageAdd_a
When bRFG_0 = TRUE, the setpointgenerator leads its currently generatedspeed value to zero via the rampsparameterised.
bSpeedCcw
bSpeedActCompare
bOverloadActive
bUnderloadActive
An additional setpoint for the motorvoltage can be set at the nVoltageAdd_aprocess input.
If there are, for instance, different loads atthe motor output end, it is possible toapply a voltage boost at the starting time.
Scaling:
214 = 16384 = 1000 VIf the signal is negative, the voltage isreduced
Danger!
Too high values may cause the motor to heat up due to the resulting current.
bSpeedCcw
bSpeedActCompare
bOverloadActive
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Terminal assignment in the Lenze setting
13.2.7.9 Torque limit value
Negative values at these inputs are interpreted as "0" and act according to the followingtable:
[13-2] Torque limits in motor and generator mode
13.2.7.10 CW/CCW rotation change-over
These input signals are directly transferredto the motor control to limit thecontroller's maximum torque in motor andgenerator mode.
Input Description
TorqueMotLim_a Internal limitation of the torque at 199.99% (upper limit) The drive cannot supply a higher torque in motor mode than set here 100% = Mmax from C00057
TorqueGenLim_a Internal limitation of the torque 199.99% (lower limit)The drive cannot supply a higher torque in generator mode than set here 100% = Mmax from C00057
CAUTION:The values applied at these inputs (any polarity) are internally interpreted as absolute values.
bOverloadActive
bUnderloadActive
bImaxActive
bSpeedSetReached
nN
MN
M
-MN
-nN n
TorqueMotLimTorqueGenLim
TorqueMotLim
TorqueMotLimTorqueGenLim
This control signal serves to change thedirection of rotation of the drive to CCWrotation.
When the signal is TRUE and the mainsetpoint is positive, the motor shaftrotates CCW
bImaxActive
bSpeedSetReached
bSpeedActEqSet
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13.2.7.11 Main setpoint and additional setpoint
The L_NSet_1 function block acts as the speed setpoint generator.
This FB includes
fixed setpoints
ramp function generator
additional ramp function generator
blocking speed areas
setpoint limitation
linear / S-shaped ramps
arithmetic function for additional setpoint
The main setpoint is changed into a speed setpoint in the setpoint generator (FB L_Nset)via a ramp function generator with linear or S-shaped ramps.
Downstream to the ramp function generator, an additional setpoint can be linkedarithmetically.
Upstream to the ramp function generator, a blocking speed masking function and asetpoint MinMax limitation are effective.
The additional setpoint can be superimposed via ramp times of a second ramp functiongenerator.
For a detailed description see L_NSet_1.
Alternatively to the input signal nMainSetValue_a, the main setpoint can also begenerated by a motor potentiometer function.
For this purpose, this function is activated via the parameter C00806 = 1 and the inputs bMPOTup and bMPOTdown serve to set the setpoint.
The behaviour of the motor potentiometer when the drive system is switched on can be setvia the parameters C008006 ... C00806.
The two inputs nMainSetValue andnAuxSetValue form the main andadditional speed setpoint.
For a simple signal adaptation of asetpoint generator, both input signals areinternally provided with aparameterisable offset and gain factor.
Scaling:
214 = 16384 = 100 % of C00011
bSpeedActEqSet
nMotorCurrent_a
nMotorSpeedAct_a
nMotorSpeedSet_a
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Terminal assignment in the Lenze setting
13.2.7.12 Fixed speeds and ramp times
The JOG values are enabled according to the following decoding scheme:
0 = FALSE
1 = TRUE
These control inputs serve to select fixedsetpoints and ramp times from tableswithin the setpoint generator.
The JOG values are set relatively in % of thereference speed C0011. The digital controlsignals bJogSpeed1…bJogSpeed8 serve toswitch off the main setpoint and activatethe JOG setpoint at the same time. A totalof 15 JOG setpoints can be selected.
bJogSpeed 8 bJogSpeed 4 bJogSpeed 2 bJogSpeed 1
Main setpoint o o o o
anJogSetValue[1] o o o 1
anJogSetValue[2] o o 1 o
anJogSetValue[3] o o 1 1
anJogSetValue[4] o 1 o o
anJogSetValue[5] o 1 o 1
anJogSetValue[6] o 1 1 o
anJogSetValue[7] o 1 1 1
anJogSetValue[8] 1 o o o
anJogSetValue[9] 1 o o 1
anJogSetValue[10] 1 o 1 o
anJogSetValue[11] 1 o 1 1
anJogSetValue[12] 1 1 o o
anJogSetValue[13] 1 1 o 1
anJogSetValue[14] 1 1 1 o
anJogSetValue[15] 1 1 1 1
nMotorSpeedAct_a
nMotorSpeedSet_a
nMotorTorqueAct_a
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13.2.7.13 Ramp generator L_NSet
To prevent setpoint step-changes in the speed setpoint, a ramp generator L_Nset_1 islocated in the main signal flow.
This FB prepares the main speed setpoint for the following signal processing via rampfunction generators or fixed speeds.
The main setpoint is changed into a speed setpoint in the setpoint generator (FB L_Nset)via a ramp function generator with linear or S-shaped ramps.
Downstream to the ramp function generator, an additional setpoint can be linkedarithmetically.
Upstream to the ramp function generator, a blocking speed masking function and asetpoint MinMax limitation are effective.
The additional setpoint can be superimposed via ramp times of a second ramp functiongenerator.
A detailed description can be found in the function library, see ramp generator.
Inversion of main setpoint
The main setpoint can be inverted via the bSetInv input (i.e. the sign of the input value ischanged).
Acceleration and deceleration times for the main setpoint path
The main setpoint is led via a ramp function generator. This serves to convert input stepchanges into a ramp.
The acceleration and deceleration time refer to a change of the speed from 0 to nmax(0 % .... 100 %). The calculation of the times Tir (C00012)and Tif (C00013) to be set isdescribed in the NSET function block description.
Additional acceleration and deceleration times
Additional acceleration and deceleration times for the ramp function generator of themain setpoint (NSET-N/JOG setpoint) can be called from the memory via the NSET-TI*xinputs, e.g. to change the acceleration speed of the drive from a certain speed on. For thispurpose, these inputs must be assigned to a signal source. Maximally 15 additionalacceleration and deceleration times can be programmed.
nMotorVoltage_a
bBrakeReleaseOut
bBrakeReleased
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Terminal assignment in the Lenze setting
S-shaped ramp function generator characteristic
For the ramp function generator of the main setpoint you can select two differentcharacteristics under C00134:
Linear characteristic for all acceleration processes requiring a constant acceleration
S-shaped characteristic for all acceleration processes requiring a jerk-free acceleration.
Additional setpoint
An additional analog setpoint (bipolar) can be linked via the input or another signal source.The additional setpoint (display in C0049) is first internally transferred to the NSETfunction block via an analog-value selector. Here, the additional setpoint is first led via aninversion option. This inversion option is deactivated. Then a ramp function generatorfollows (acceleration and deceleration times via C0220/C0221), before the additionalsetpoint is linked with the main setpoint in the arithmetic block. The additional setpointcan be e.g. used as a correcting signal for grinding machines (for control of a constantcircumferential speed while the grinding disk diameter reduces).
If you want to use the additional setpoint, set code C00190 to the required arithmeticfunction. In the Lenze setting, code C00190 is parameterised to 0. Thus, the additionalsetpoint is switched off.
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13.2.7.14 Motor potentiometer function
13.2.7.15 Process controller adaptation
13.2.7.16 Actual process controller value
The standard application has anintegrated motor potentiometer. Thisfunction can be switched on/off via theparameter C00806.
When the function is switched on, themotor potentiometer is connected to themain setpoint path and thus acts as signalsource for the main speed setpoint.
This setpoint can be ramped up and downby means of the digital control inputsbMPOTUp and bMPOTDown via aparameterisable ramp time.
nGPArithmetikOut_a
nGPMulDivOut_a
nGPDigitalDelayOut
This input signal serves to adapt theproportional gain of the integrated PIDprocess controller.
See function block L_PCTRLbFreeConfigOut1
bFreeConfigOut2
This input signal serves to supply theactual value of the process factor to becontrolled to the integrated PID processcontroller.
For a simple signal adaptation of a sensorsignal, the input signal is internallyprovided with a parameterisable offsetand gain factor.
bFreeConfigOut1
bFreeConfigOut2
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Terminal assignment in the Lenze setting
13.2.7.17 Forced release of holding brake
For the forced release of the brake, the bBrakeRelease control input can be set to TRUE.
13.2.7.18 Manual jog
Danger!
This higher-priority input acts in parallel to the integrated brake control, i.e. if this input is TRUE, the brake will be released even if the integrated automatic brake operation function wants to close the brake.
The actuating drive - speed technologyapplication is provided with an integratedautomatic brake operation function whichcan be switched off/on via C02580.
nGPCompareOut
nGPSignalOut1
nGPSignalOut2
nGPSignalOut3
The inputs bMANJogPos/Neg serve totraverse the drive in manual mode inpositive / negative direction of rotation.
The parameters C01231 serve to set thespeed of the manual jog mode.
LS_MotionControlKernel ( 587)
nGPSignalOut1
nGPSignalOut1_a
nGPSignalOut2
nGPSignalOut3
nGPSignalOut4
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13.2.7.19 General purpose functions
Integrated and freely usable function blocks:
In many applications the controller is totake over further drive-based functionsand e.g. scale sensor signals or controlactuators.
For this purpose, this standard applicationis provided with integrated and freelyusable function blocks (see below). Theinputs and outputs of these functionblocks are available at the signal interfaceof the standard application.
These functions are provided with FBinputs (named with xGPxxx in the inputname) at the input interface of theapplication and FB outputs (also renamed)at the output interface of the application.
Function block Information
L_AnalogSwitch ( 499) Signal switch
L_Arithmetik ( 502) Arithmetic function
L_MulDiv ( 541) Multiplication division
L_DigitalDelay ( 522) Digital delay
L_DigitalLogic ( 524) Programmable logic
L_Compare ( 504) Comparator
L_DFlipFlop ( 520) Flip flop
L_Counter ( 518) Counter
nGPSignalOut1_a
nGPSignalOut3_a
nGPSignalOut4
nGPSignalOut2_a
nGPSignalOut4_a
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Terminal assignment in the Lenze setting
13.2.7.20 Status word
To control the TA via a bus (CAN on board or fieldbus), the current status of the device hasto be queried. Depending on the process data mapping set, the information is transmittedas status word via the bus system.
When a communication module is used, a port block (LP_MciOut or LP_CanOut) is connected to the output wMCIDriveControlStatus.
When the CAN on board is used, the signal (16 bits) is led from the wCANDriveControlStatus output to the LP_CANxxx port block:
[13-3] Status enquiry when the 8400 HighLine is controlled via the on-board CAN
Example Controller status word (C00150) for application "Speed closed-loop control"( 75)
13.2.7.21 wCurrentFailNumber
wDriveControlStatus (16-bit word)status for control via CAN or fieldbus
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
LP_CANOut1 ?
wOut1
wOut2
Displays the current error number which isstructured as follows:
Bit 0 .. 15 (error number or error ID)
Bit 16..25 (subject area no. or domain)
Bit 26..29 (error type)
Bit 30..31 (reserved)
Error number ( 298)
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
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13.2.7.22 bDriveReady
13.2.7.23 bDriveFail
13.2.7.24 bCInhActive
13.2.7.25 bQSPIsActive
Display:
Drive is ready to process setpoints.
No error occurred.bDriveReady
bDriveFail
bCInhActive
An error occurred.
The error type is as follows:
Trouble, TroubleQSP
wStateDetermFailNoHigh
bDriveReady
bDriveFail
Display:
Controller inhibit is activatedbDriveReady
bDriveFail
CInhActive
bQSPlsActive
bSpeedCcw
Display:
Quick stop is activatedbDriveFail
CInhActive
bQSPlsActive
bSpeedCcw
bSpeedActCompare
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Terminal assignment in the Lenze setting
13.2.7.26 bSpeedCcw
13.2.7.27 bSpeedActCompare
13.2.7.28 bOverLoadActive / bUnderLoadActive
13.2.7.29 bImaxActive
Display:
Direction of motor rotation with regard toactual speed value.
TRUE: motor rotates anti-clockwise (asviewed looking onto the motor shaft)
CInhActive
bQSPlsActive
bSpeedCcw
bSpeedActCompare
bOverloadActive
TRUE: The actual speed value is lower thanthe value set in C00024
bQSPlsActive
bSpeedCcw
bSpeedActCompare
bOverloadActive
bUnderloadActive
In preparation
bSpeedActCompare
bOverloadActive
bUnderloadActive
bImaxActive
TRUE: The controller operates at themaximum current limit
bUnderloadActive
bImaxActive
bSpeedSetReached
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13.2.7.30 bSpeedSetReached, bSpeedActEqSet
13.2.7.31 nMotorCurrent_a
13.2.7.32 nMotorSpeedSet_a, nMotorSpeedAct_a
13.2.7.33 nMotorTorqueAct_a
bSpeedSetReachedsignal = TRUE:speed setpoint reached.
bSpeedSetReachedsignal = TRUE: actual speed value has reached the setpoint within a hysteresis band
bImaxActive
bSpeedSetReached
bSpeedActEqSet
Output of the actual motor current value
Scaling:
214 = 16384 = value of C00022bSpeedActEqSet
nMotorCurrent_a
nMotorSpeedAct_a
nMotorSpeedSet_a
nMotorTorqueAct_a
nMotorSpeedSet_a:resulting total speed setpoint.
nMotorSpeedAct_a:actual speed value
nMotorCurrent_a
nMotorSpeedAct_a
nMotorSpeedSet_a
nMotorTorqueAct_a
nDCVoltage_a
Current actual torque value
nMotorSpeedAct_a
nMotorTorqueAct_a
nDCVoltage_a
nMotorVoltage_a
bBrakeReleaseOut
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13.2.7.34 nDCVoltage_a
13.2.7.35 nMotorVoltage_a
13.2.7.36 bBrakeReleaseOut, holding brake control
13.2.7.37 bBrakeReleasedbBrakeReleased, holding brake status signal
Actual DC-bus voltage
Scaling:
214 = 16384 = 100 % = 1000 V
nMotorTorqueAct_a
nDCVoltage_a
nMotorVoltage_a
bBrakeReleaseOut
bBrakeReleased
Currently applied motor voltage
Scaling:
214 = 16384 = 100 % = 1000 V
nDCVoltage_a
nMotorVoltage_a
bBrakeReleaseOut
bBrakeReleased
nGPAnalogSwitchOut_a
This output serves to control a holdingbrake.
This output signal is affected by theintegrated automatic brake operationfunction and via the input for the forcedbrake release.
nMotorVoltage_a
bBrakeReleaseOut
bBrakeReleased
nGPAnalogSwitchOut_a
nGPArithmetikOut_a
This output signal displays the brakestatus.
As the delay times of the holding brake(magnetising and release times of thebrake) are considered in the automaticbrake operation, the "brake is released"information cannot be derived from thebBrakeReleaseOut signal but is displayedby this output.
bBrakeReleaseOut
bBrakeReleased
nGPAnalogSwitchOut_a
nGPArithmetikOut_a
nGPMulDivOut_a
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13.2.7.38 General purpose outputs
nGPAnalogSwitchOut_a
nGPArtithmetikOut_a
nGPMulDivOut_a
bGPDigitalDelayOut
bGPLogicOut
bGPCompareOut
bGPSignalOut1
bGPSignalOut2
bGPSignalOut3
bGPSignalOut4
nGPSignalOut1_a
nGPSignalOut2_a
nGPSignalOut3_a
nGPSignalOut4_a
bBrakeReleased
nGPAnalogSwitchOut_a
nGPArithmetikOut_a
nGPMulDivOut_a
nGPDigitalDelayOut
nGPLogicOut
nGPCompareOut
nGPSignalOut1
nGPSignalOut1_a
nGPSignalOut3_a
nGPSignalOut2
nGPSignalOut3
nGPSignalOut4
nGPSignalOut2_a
nGPSignalOut4_a
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8400 HighLine C | Software ManualTA "Table positioning"
Brief description of the function
14 TA "Table positioning"
14.1 Brief description of the function
14.1.1 Brief description of the properties
With the "Table positioning" technology application a great number of functions formotion control of a single axis can be carried out:
Manual jog
Retracting the limit switch
Reference setting/homing in 18 different modes (in preparation)
Positioning (absolute, relative)
Continuous travel (speed mode)
Speed override
Acceleration override
Profile sequence block control
Travel block restart within the profile (online profile start)
Specification of target position via process signal interface (e. g. via fieldbus)
Further functions
Up to 15 travel sets can be set via parameters
Parameterisation of the profile data in physical units or relative values
Adjustable torque limitation
Linear and S-shaped ramps
Software limit position monitoring
Following error monitoring (with static limits)
Brake control/automatic brake control
Enable of individual functions via control word
Status and diagnostic displays
Change-over of operating modes "manual jog", "Homing", "Speed follower", "Positioning"
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Cross-application inputs and outputs, for description see LA_TabPos application block Inputs and outputs, see Interface description ( 415) Cross-application inputs and outputs, for description see General purpose functions
??
wMckState1
wActProfileNo
wMckState2
wActPosMode
dnTargetPos_p
dnSetPos_p
wMcKActOperationMode
bHomePosAvailable
bHomeDone
bProfileDone
bProfileBusy
bAccelerating
bConstantDuty
bDecelerating
bDwellTime
bInTarget
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Brief description of the function
Inputs
Identifier/data type Information/possible settings
wInMckPosCtrl_1wInMckPosCtrl_2
WORD
Positioning control word 1 / positioning control word 2Via these control words the LS_MotionControlKernel system block can be controlled
wMckOperationModeWORD
Selection of the operating mode of the MotionControlKernel system block.
bPosCtrlOnBOOL
True Position control on
bLimitSwitchPosBOOL
Input for limit switch (positive)Connecting and retracting limit switches
False Limit switch reached
bLimitSwitchNegBOOL
Input for limit switch (negative)Connecting and retracting limit switches
False Limit switch reached
bReleaseLimitSwitchBOOL
Retracting the limit switches
True Retracting from the activated limit switch in the corresponding clearance direction until the limit switch is released (no longer activated).
bManJogPosBOOL
bManJogNegBOOL
Manual jogbManJogPos = TRUE: manual jog rightbManJogNeg = TRUE: manual jog leftbManJogPos AND bManJogNeg = TRUE: no change to the previous statebManJogPos AND bManJogNeg = FALSE: stop manual jog
bManEnable2ndSpeedBOOL
True Activation of the 2. manual speed
bEnableSpeedOverrideBOOL
True Activate speed override
bEnableAccOverrideBOOL
True Activate acceleration override
bHomeStartStopBOOL
Homing start • Only in connection with controller enable.
True Start homing
False Abort homing and direct drive to standstill via the stop profile.
bHomeSetPositionBOOL
Setting the home position manually
True The position specified via input dnSetPos_p is saved as home position.
bHomeResetPositionBOOL
Resetting the home position
True The internally saved home position is reset, so that the "Reference is not known" status is available again.
bHomeMarkBOOL
Input for reference switchUse of a reference switch
False Reference switch reached.
bPosSetProfilePostionBOOL
True The target position set in the driving record is overwritten as follows: Selection of the driving record via wPosFrofileNo • bPosSetProfilePostion: Enter dnPosProfilePosition_p as position
value into the travel profile • bPosSetActualPostion: Enter current actual position as position
value in the travel profile
bPosSetActualPostionBOOL
bPosExecuteBOOL
FALSE -->TRUE
Start of the profile generation
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394 L Firmware 02.00 - DMS EN 3.0 - 05/2009
bPosFinishTargetBOOL
FALSE -->TRUE
A previously interrupted positioning process (interruption by PosStop , device error, etc.) is continued by travelling to the original target.
bPosDisableFollowProfileBOOL
True Switch-off of the profile linkageThe evaluation of the sequence profile number set in the driving record is disabled.
bPosStopBOOL
True Stop positioning / cancel profile
wPosProfileModeWORD
"Override" of the positioning modes: • 1 = absolute (shortest path) • 2 = continuous • 3 = relative • 4 = absolute, Cw • 5 = absolute, CcwThe selection of one of the values mentioned has a higher priority than the positioning mode set by C01300. The value set in C1300 is not overwritten.If wPosProfileMode = 0 is selected, the value set in C1300 applies.
wPosFrofileNoWORD
Profile number (1 ... 15) Selection of the driving record
dnPosProfilePosition_pDINT
Profile position in [Inc] to be acceptedBy means of this input the position within the positioning profiles can be changed. For this the position value in Inc is applied to this input, and the profile number is specified in the control word. The data are accepted in the profiles if a data acceptance bit is set in the control word.
Identifier/data type Information/possible settings
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Brief description of the function
Outputs
Status messages:
Identifier/data type Value/meaning
wMckState1wMckState2
WORD
See L_MckState function block
wMckActOperationModeWORD
bHomeDoneBOOL
True Homing completed
bHomePosAvailableBOOL
True Home position known
bProfileDoneBOOL
True Profile generation completed
bProfileBusyBOOL
True Profile generation active
bAcceleratingBOOL
True Acceleration process active
bConstantDutyBOOL
True Constant travel phase active
bDeceleratingBOOL
True Braking process active
bDwellTimeBOOL
True Settling time of the mechanical load system has elapsed
bInTargetBOOL
True Actual position of the mechanical load system is in the target position window
wActProfileNoWORD
Current profile number (1 ... 15)
wActPosModeWORD
Current positioning mode
dnTargetPos_pDINT
Current target position which is to be approached
denSetPos_pDINT
Current set position (which approaches the target position during the profile generation)
8400 HighLine C | Software ManualTA "Table positioning"Brief description of the function
396 L Firmware 02.00 - DMS EN 3.0 - 05/2009
14.1.2 Selecting the control source
[14-1] Selection of the control source on the "Application parameters" tab
By selecting the control source it is defined how the technology application set is to becontrolled. The following options are provided (see arrow):
1. Terminal control
– Selection 10, terminals 0 (Lenze setting)This selection enables simple drive control via the digital and analog device control connections (e.g. using the setpoint box available in the Lenze accessories program, see www.Lenze.com ---> Home/Services&Downloads/Teachware).
– Selection 12, terminals 2
– Selection 14, terminals 11
2. Control via keypad / PC
– Selection 20, keypad
– Selection 21, PC
3. Control via the CAN on board
– Selection 30, hand-remote control for CAN (in preparation)
4. Control via the fieldbus, e.g. PROFIBUS
– Selection 40, hand-remote control for MCI (in preparation)
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Brief description of the function
The device inputs and device outputs referred to as system blocks at Lenze provide theinterface of the application to the peripherals of the controller. They include digital andanalog input and output interfaces (e. g. "LS_DigitalInput") and communication interfaces(e.g. "LP_CanOut1" for CAN or "LP_MciOut" for PROFIBUS as external fieldbus):
[14-2] Schematic structure of an application solution (here with terminal control)
The interfaces are preconfigured under code C00007. For each configuration of C00007 ≥10, the input and output interfaces for the application have been pre-assigned.
For information on the input and output pre-assignments for the different control sources,please see the chapters :
Overview of terminal assignment ( 398)
Terminal pre-assignment in detail ( 401)
The pre-assignment as seen from the application's view is described in the chapter
Pre-assignment of the LA_TabPos application block ( 410).
If the described pre-assignment of the application block is inappropriate for the drive task,an individual configuration, e.g. by means of the FB editor or the "Terminal assignment"tab, can be carried out. The configuration tables stored in the drive contain a selection ofthe most frequently used signals, so that it is possible to carry out a quick commissioningwith only few operator control actions:
User-defined terminal assignment ( 409)
System blocks on the device input side Connections between the device application and the input and output interfaces, pre-assignment through
selection with C00007 ≥ 10 Technology application, selection with C00005 System blocks on the device output side
X5
X4
X3
+=
DI3
DI2
DI4
DI5
DI6
DI7
GI
24I
DI1
RFR
24E
LS_AnalogOutput
LS_DigitalOutputLA_NCtrl
LP_CanIn
LS_ParFree_a
LS_AnalogInput
LS_DigitalInput
LS_ParFix
A2I
AR
A1U
A2U
A1I
GA
24O
DO1
DO3
GO
DO2LP_CanOut
� � � �X3
O1U
O1I
O2U
O2I
8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting
398 L Firmware 02.00 - DMS EN 3.0 - 05/2009
14.2 Terminal assignment in the Lenze setting
14.2.1 Overview of terminal assignment
Input connections for terminal control
Output connections for terminal control
Connection
C0007 = 10 (terminals 0)
C0007 = 12 (terminals 2)
C0007 = 14 (terminals 11)
C0007 = 16 (terminals 16)
Digital input terminals
X5/RFR Controller enableLA_TabPos: bFailReset
X5/DI1 - - Positive limit switchLA_TabPos:
bLimitSwitchPos
-
X5/DI2 - - Negative limit switchLA_TabPos:
bLimitSwitchNeg
-
X5/DI3 Positive limit switchLA_TabPos:
bLimitSwitchPos
- - Manual homing in positive direction
LA_TabPos: bManJogPos
X5/DI4 Negative limit switchLA_TabPos:
bLimitSwitchNeg
Positioning profile, array-bit, valency: 4LA_TabPos: bPosProfileNo_4
Manual homing in negative direction
LA_TabPos: bManJogNeg
X5/DI5 Positioning profile, array-bit, valency: 2LA_TabPos: bPosProfileNo_2
X5/DI6 Positioning profile, array-bit, valency: 1LA_TabPos: bPosProfileNo_1
X5/DI7 Start of the profile generationLA_TabPos: bPosExecute
Analog input terminals
X3/A1UX3/A1I
Speed setpoint (scaling: 10V = 100% ⋅ [C0011])LA_TabPos: nMainSetValue_a
X3/A2UX3/A2I
- - - -
Connection
C0007 = 10 (terminals 0)
C0007 = 12 (terminals 2)
C0007 = 14 (terminals 11)
C0007 = 16 (terminals 16)
Digital output terminals
X4/DO1 Drive is ready to start LA_TabPos:bDriveReady
X4/DO2 Position target reachedLA_TabPos:bInTarget
X4/DO3 Home position knownLA_TabPos:bHomePosAvailable
X107/BD1 Brake releasedLA_TabPos:bMBrakeReleaseOut
X107/BD2 Brake feedback
X101/NO Fault LA_TabPos:bDriveFail
Analog output terminals
X3/O1U Actual speed value (scaling: 10V = 100% ⋅ [C0011])LA_TabPos:nMotorSpeedAct_a
X3/O1I
X3/O2U Actual currentLA_TabPos:nMotorCurrent_a
X3/O2I
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8400 HighLine C | Software ManualTA "Table positioning"
Terminal assignment in the Lenze setting
Input connections of the other control sources
Output connections of the other control sources
Connection
C0007 = 20 (keypad) C0007 = 21 (PC) C0007 = 30 (CAN) C0007 = 40 (MCI)
Digital input terminals
X5/RFR Controller enableLA_TabPos: bFailReset
X5/DI1 -
X5/DI2 - -
X5/DI3 Positive limit switchLA_TabPos: bLimitSwitchPos
X5/DI4 Negative limit switchLA_TabPos: bLimitSwitchNeg
X5/DI5 Home positionLA_TabPos: bHomeMark
X5/DI6 Quick stop LA_TabPos: bSetQuickstop
X5/DI7 LP_CanOut1: bState_B7 LP_MciOut: bState_B7
Analog input terminals
X3/A1UX3/A1I
- - Speed setpoint (scaling: 10V = 100% ⋅ [C0011])LA_TabPos: nMainSetValue_a
X3/A2UX3/A2I
- - - -
Connection
C0007 = 20 (keypad) C0007 = 21 (PC) C0007 = 30 (CAN) C0007 = 40 (MCI)
Digital output terminals
X4/DO1 Drive is ready to start LA_TabPos:bDriveReady
X4/DO2 Target position reachedLA_TabPos:bInTarget
X4/DO3 Home position is knownLA_TabPos:bHomePosAvailable
Torque limit reachedLA_TabPos:bImaxActive
X107/BD1 Brake is releasedLA_TabPos:bMBrakeReleaseOut
X107/BD2 Brake feedback
X101/NO Fault LA_TabPos:bDriveFail
Analog output terminals
X3/O1U Actual speed value (scaling: 10V = 100% ⋅ [C0011])LA_TabPos:nMotorSpeedAct_a
X3/O1I
X3/O2U Actual currentLA_TabPos:nMotorCurrent_a
X3/O2I
8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting
400 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Bus communication, assignment of data words per port
Data words C0007 = 30 (CAN) C0007 = 40 (MCI)
Connection to plug connector X1 Connection to communication module (e.g. PROFIBUS, X201 (9-pole SubD socket)
TPDO1 LP_CanOut1 LP_MciOut
wState - -
wOut2 LA_TabPos:nGPSignalOut1_a
wOut3 - -
wOut4 - -
wOut5 (only MCI) Actual speed value (scaling: 16384 = 100% ⋅ [value under C0011])
LA_TabPos:nMotorSpeedAct_a
wOut6 ... wOut16 (only MCI) -
TPDO2 / TPDO3 LP_CanOut2 /3 -
wOut1 -
wOut2
wOut3
wOut4
RPDO1 LP_CanIn1 LP_MciIn
wCtrl -
wIn2 Speed override (scaling: 16384 = 100% ⋅ [value under C0011])LA_TabPos: nSpeedOverride_a
wIn3 - -
wIn4 - -
wIn5 ... wIn16 (only MCI) -
RPDO2 / RPDO3 LP_CanIn2 / LP_CAnIn3 -
wIn1 -
wIn2
wIn3
wIn4
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8400 HighLine C | Software ManualTA "Table positioning"
Terminal assignment in the Lenze setting
14.2.2 Terminal pre-assignment in detail
C0007 = 10 (terminals 0)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 LA_TabPos: bLimitSwitchPos X3/A2I
X5/DI4 LA_TabPos: bLimitSwitchNeg X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bPosProfileNo_2 X3/O1I
X5/DI6 LA_TabPos: bPosProfileNo_1 X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LA_TabPos: bPosExecute X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
X5
A2I
AR
COM
CG
A1U
NC
CL
A2UA1I
NO
CH
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
MBrakeReleaseOut
X101
X1
24E
+
+
=
=
+
DriveFail
DriveReadyLoad mechanicals in target pHome position known
Controller enable
Externalsupply
24 V DC
pos. directionneg. direction
Bit 2Bit 1
Start profile generation
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Speed setpoint
Limit switch
Profile no. 0 ... 3
8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting
402 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 12 (terminals 2)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 LA_TabPos: bPosProfileNo_4 X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bPosProfileNo_2 X3/O1I
X5/DI6 LA_TabPos: bPosProfileNo_1 X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LA_TabPos: bPosExecute X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
X5
A2I
AR
COM
CG
A1U
NC
CL
A2UA1I
NO
CH
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
X1
24E
+
M
==
+
DriveFail
+=
MBrakeReleaseOut
DriveReady
Speed setpoint
Controller enable
Externalsupply
24 V DC
Actual speed value (I)Actual motor current value (VActual motor current value (I
Bit 2Bit 3
Bit 1Start profile generation
Profile no. 0 ... 7
Load mechanicals in target pHome position known
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8400 HighLine C | Software ManualTA "Table positioning"
Terminal assignment in the Lenze setting
C0007 = 14 (terminals 11)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_TabPos: bLimitSwitchPos X3/A1I
X5/DI2 LA_TabPos: bLimitSwitchNeg X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 LA_TabPos: bPosProfileNo_4 X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bPosProfileNo_2 X3/O1I
X5/DI6 LA_TabPos: bPosProfileNo_1 X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LA_TabPos: bPosExecute X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
CG
CL
CH
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X1
+
M
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
+
==
DriveFail
+=
MBrakeReleaseOut
Controller enable
DriveReady
Speed setpoint
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Bit 2Bit 3
Bit 1Start profile generation
Profile no. 0 ... 7
pos. directionneg. direction
Limit switch
Load mechanicals in target pHome position known
8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting
404 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 16 (terminals 16)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 LA_TabPos: bManJogPos X3/A2I
X5/DI4 LA_TabPos: bManJogNeg X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bPosProfileNo_2 X3/O1I
X5/DI6 LA_TabPos: bPosProfileNo_1 X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LA_TabPos: bPosExecute X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
X5
A2I
AR
COM
CG
A1U
NC
CL
A2UA1I
NO
CH
X107 X4
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
24B 24OGB DO1
BD2 DO3GO
BD1 DO2
GAO1UO1I
O2UO2I
X101
X1
24E
+
M
==
+
DriveFail
+=
MBrakeReleaseOut
DriveReadyLoad mechanicals in target pHome position known
Controller enable
Externalsupply
24 V DC
pos. directionneg. direction
Bit 2Bit 1
Start profile generation
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Speed setpoint
Profile no. 0 ... 3
ManualJog
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8400 HighLine C | Software ManualTA "Table positioning"
Terminal assignment in the Lenze setting
C0007 = 20 (keypad)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 - X3/O1I
X5/DI6 - X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 - X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
CG
CL
CH
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X1
+
M+
==
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
Quick commissioning
SAVE
Par1 Quick commissioning
Terminals
Keypad
SAVE
Par1 8400 HighLineC
User - Menu
Logbook
Go to param
Quick commissioning
C2/1C7C728C11C12C13C15C16C22C87C89C39/1C727/3C727/4C51C54
DriveFail
+=
MBrakeReleaseOut
Controller enable
DriveReady
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (V)Actual motor current value (I)
Load mechanicals in target positionHome position known
Engineer: Keypad:
All parameters
Quick commissioning
Terminal
Keypad
8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting
406 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 21 (PC)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U -
X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 - X3/O1I
X5/DI6 - X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 - X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
CG
CL
CH
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
X1
+
M+
==
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
DriveFail
+=
MBrakeReleaseOut
Controller enable
DriveReady
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
Load mechanicals in target pHome position known
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8400 HighLine C | Software ManualTA "Table positioning"
Terminal assignment in the Lenze setting
C0007 = 30 (CAN)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nAuxSetValue_aActivation of addition:C00190=1 (NOUT = NSET+NADD)X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 LA_TabPos: bLimitSwitchPos X3/A2I
X5/DI4 LA_TabPos: bLimitSwitchNeg X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bHomeMark X3/O1I
X5/DI6 LA_TabPos: bSetQuickstop X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LP_CanOut1: bState_B7 X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bImaxActive
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
+
M
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
+
==C
GC
LC
H
X1C
AN
1_
In
CA
N1
_O
ut
CAN2/3_In/Out
CanDriveControl
MainSetValue
DriveControlStatus
MotorSpeedAct
MotorSpeedSet
DriveFail
+=
MBrakeReleaseOut
DriveReady
Speed setpoint
Controller enable
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I
pos. directionneg. direction
Reference switch statusQuickstop
Limit switch
Load mechanicals in target pImax status
8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting
408 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C0007 = 40 (MCI)
Connection Assignment Connection Assignment
X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nAuxSetValue_aActivation of addition:C00190=1 (NOUT = NSET+NADD)X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 LA_TabPos: bLimitSwitchPos X3/A2I
X5/DI4 LA_TabPos: bLimitSwitchNeg X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bHomeMark X3/O1I
X5/DI6 LA_TabPos: bSetQuickstop X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LP_MciOut: bState_B7 X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady
X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bImaxActive
X107 X424B 24OGB DO1
BD2 DO3GO
BD1 DO2
+
M
X5
A2I
AR
COM
A1U
NC
A2UA1I
NO
X3
DI3DI2
DI4DI5DI6DI7GI
24I
DI1RFR
GAO1UO1I
O2UO2I
X101
24E
+
==
CG
CL
CH
X1
Mci1
_In
Mci1
_O
ut
Mci2/3_In/Out
MciDriveControl
MainSetValue
DriveControlStatus
MotorSpeedAct
MotorSpeedSet
DriveFail
+=
DriveReady
MBrakeReleaseOut
Controller enable
Externalsupply
24 V DC
Actual speed value (V)Actual speed value (I)Actual motor current value (V)Actual motor current value (I)
pos. directionneg. direction
Reference switchQuickstop
Limit switch
Load mechanicals in target positionImax status
Speed setpoint
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Terminal assignment in the Lenze setting
14.2.3 User-defined terminal assignment
A terminal assignment differing from the Lenze setting is a user-defined terminalassignment. Depending on the drive task, the terminal assignment may differ more or lessfrom the Lenze setting. This affects both the number and location of the system blocksused and the system block interconnections. In an extreme case, the following circuitdiagram will be available at the beginning of your work, i.e. there are neither any systemblocks nor any signal combinations:
System blocks on the device input side Connections between the device application and the input and output interfaces, C00007 = 0 Device application, selection with C00005 System blocks on the device output side
The following system blocks and portblocks can be used on the device input side
and on the device output side :
System blocks
Selection with button
Port blocks
Selection with button
X5
X4
X3
+=
DI3
DI2
DI4
DI5
DI6
DI7
GI
24I
DI1
RFR
24E
LA_NCtrl
A2I
AR
A1U
A2U
A1I
GA
24O
DO1
DO3
GO
DO2
� � � �X3
O1U
O1I
O2U
O2I
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14.2.4 Pre-assignment of the LA_TabPos application block
Input connections
Terminal control
Input LA_TabPos:
Code C00007, value:
10 (terminals 0) 2 (terminals 2) 14 (terminals 11) 16 (terminals 16)
wCANDriveControl LS_ParFix:wDriveCtrl
wMCIDriveControl
bCInh -
bFailReset LS_DigitalInput:bCInh
bSetQuickstop -
nTorqueMotLim_a LS_ParFree_a:nPar3_a
nTorqueGenLim_a LS_ParFree_a:nPar4_a
bSetSpeedCcw -
nMainSetValue_a LS_AnalogInput:nIn1_a
nAuxSetValue_a -
bJogSpeed1
bJogSpeed2
bMPotEnable
bMPotUp
bMPotDown
wMckOperationMode LSParFree:wPar1
bMckOperationMode_1 -
bMckOperationMode_2
bMckOperationMode_4
bMckOperationMode_8
bPosCtrlOn LS_ParFix:bTrue
nPosCtrlOutLimit_a LS_ParFix:nPos100_a
nPosCtrlAdapt_a LS_ParFix:nPos100_a
bLimitSwitchPos LS_DigitalInput:bIn3 - LS_DigitalInput:bIn1 LS_DigitalInput:bIn3
bLimitSwitchNeg LS_DigitalInput:bIn4 - LS_DigitalInput:bIn2 LS_DigitalInput:bIn4
bReleaseLimitSwitch -
bManJogPos
bManJogNeg
bManEnable2ndSpeed
bEnableSpeedOverride
nSpeedOverride_a
bEnableAccOverride
nAccOverride_a
bHomeStartStop
bHomeSetPosition
bHomeResetPosition
bHomeMark
bPosSetProfilePosition
bPosSetActualPosition
bPosExecute LS_DigitalInput:bIn7
bPosFinishTarget -
bPosDisableFollowProfile
bPosStop
wPosProfileMode LSParFree:wPar2
wPosProfileNo LSParFree:wPar3
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Terminal assignment in the Lenze setting
Other control sources
bPosProfileNo_1 LS_DigitalInput:bIn6
bPosProfileNo_2 LS_DigitalInput:bIn5
bPosProfileNo_4 - LS_DigitalInput:bIn4LS_DigitalInput:bIn4
bPosProfileNo_8 -
dnPosProfilePosition_p
InputLA_TabPos:
Code C00007, value:
20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
wCANDriveControl LS_ParFix:wDriveCtrl
wMCIDriveControl
bCInh - LS_ParFree_b:bPar3 LP_CanIn1.bCtrl1_B3 LP_MciIn1.bCtrl1_B3
bFailReset - LP_CanIn1.bCtrl1_B11 LP_MciIn1.bCtrl1_B11
bSetQuickstop LS_Keypad:bSetQuickstop LS_ParFree_b:bPar5 LS_DigitalInput:bIn6
nTorqueMotLim_a LS_Keypad:nTorqueMotLim LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a
nTorqueGenLim_a LS_Keypad:nTorqueGenLim LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a
bSetSpeedCcw LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4
nMainSetValue_a LS_Keypad:nMainSetValue LS_ParFree_a:nPar1_a LS_AnalogInput:nIn1_a
nAuxSetValue_a LS_ParFree_a:nPar2_a -
bJogSpeed1 LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1
bJogSpeed2 LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2
bMPotEnable LS_Keypad:bMPotEnable LS_ParFree_b:bPar6
bMPotUp LS_Keypad:bMPotUp LS_ParFree_b:bPar7
bMPotDown LS_Keypad:bMPotDown LS_ParFree_b:bPar8
wMckOperationMode - LS_ParFree_b:bPar9
bMckOperationMode_1 LS_ParFree:wPar4 LP_CanIn1.bCtrl1_B0 LP_MciIn1.bCtrl1_B0
bMckOperationMode_2 LS_ParFree:wPar5 LP_CanIn1.bCtrl1_B1 LP_MciIn1.bCtrl1_B1
bMckOperationMode_4 LS_ParFree_b:bPar12 LP_CanIn1.bCtrl1_B2 LP_MciIn1.bCtrl1_B2
bMckOperationMode_8 LS_ParFree_b:bPar13 -
bPosCtrlOn LS_ParFix:bTrue
nPosCtrlOutLimit_a LS_ParFix:nPos100_a
nPosCtrlAdapt_a LS_ParFix:nPos100_a
bLimitSwitchPos - LS_ParFree_b:bPar14 LS_DigitalInput:bIn3
bLimitSwitchNeg LS_ParFree_b:bPar15 LS_DigitalInput:bIn4
bReleaseLimitSwitch LS_ParFree_b:bPar16
bManJogPos LS_ParFree_b:bPar17 LP_CanIn1.bCtrl1_B13 LP_MciIn1.bCtrl1_B13
bManJogNeg LS_ParFree_b:bPar18 LP_CanIn1.bCtrl1_B12 LP_MciIn1.bCtrl1_B12
bManEnable2ndSpeed LS_ParFree_b:bPar19
bEnableSpeedOverride LS_ParFree_b:bPar20 LP_CanIn1.bCtrl1_B9 LP_MciIn1.bCtrl1_B9
nSpeedOverride_a LS_ParFree_a:nPar5_a LP_CanIn1.wIn2 LP_MciIn1.wIn2
bEnableAccOverride LS_ParFree_b:bPar21
nAccOverride_a LS_ParFree_a:nPar6_a
bHomeStartStop LS_ParFree_b:bPar22
bHomeSetPosition LS_ParFree_b:bPar23 LP_CanIn1.bCtrl1_B10 LP_MciIn1.bCtrl1_B10
bHomeResetPosition LS_ParFree_b:bPar24
bHomeMark LS_ParFree_b:bPar25 LS_DigitalInput:bIn5
bPosSetProfilePosition LS_ParFree_b:bPar26
bPosSetActualPosition LS_ParFree_b:bPar27
bPosExecute LS_ParFree_b:bPar28 LP_CanIn1.bCtrl1_B8 LP_MciIn1.bCtrl1_B8
Input LA_TabPos:
Code C00007, value:
10 (terminals 0) 2 (terminals 2) 14 (terminals 11) 16 (terminals 16)
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bPosFinishTarget LS_ParFree_b:bPar29
bPosDisableFollowProfile LS_ParFree_b:bPar30
bPosStop LS_ParFree_b:bPar31
wPosProfileMode LS_ParFree:wPar2
wPosProfileNo LS_ParFree:wPar3
bPosProfileNo_1 - - LP_CanIn1.bCtrl1_B4 LP_MciIn1.bCtrl1_B4
bPosProfileNo_2 LP_CanIn1.bCtrl1_B5 LP_MciIn1.bCtrl1_B5
bPosProfileNo_4 LP_CanIn1.bCtrl1_B6 LP_MciIn1.bCtrl1_B6
bPosProfileNo_8 LP_CanIn1.bCtrl1_B7 LP_MciIn1.bCtrl1_B7
dnPosProfilePosition_p LS_ParFree_p:dnPar1_p LP_CanIn1.dnIn34_p LP_MciIn1.dnIn34_p
InputLA_TabPos:
Code C00007, value:
20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
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Terminal assignment in the Lenze setting
Output connections
Terminal control
Output Code C00007, output LA_TabPos, value:
10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)
wDriveControlStatus -
wStateDetermFailNoLow
wStateDetermFailNoHigh
bDriveFail LS_DigitalOutput:bRelay
bDriveReady LS_DigitalOutput:bOut1
bCInhActive -
bQSPIsActive
bSpeedCcw
bSpeedActCompare
bImaxActive
bSpeedSetReached
nMotorCurrent_a LS_AnalogOutput:nOut2V_aLS_AnalogOutput:nOut2I_a
nMotorSpeedSet_a -
nMotorSpeedAct_a LS_AnalogOutput:nOut1V_aLS_AnalogOutput:nOut1I_a
nMotorTorqueAct_a -
nDCVoltage_a
nMotorVoltage_a -
bMBrakeReleaseOut LS_DigitalOutput:bOutHC
bMBrakeReleased -
wMckState1
wMckState2
wMckActOperationMode
bHomeDone
bHomePosAvailable LS_DigitalOutput: bOut3
bProfileDone -
bProfileBusy
bAccelerating
bConstantDuty
bDecelerating
bDwellTime
bInTarget LS_DigitalOutput: bOut2
wActProfileNo -
wActPosMode
dnTargetPos_p LS_DisFree_p:dnDis1_p
dnSetPos_p LS_DisFree_p:dnDis2_p
bGPSignalOut1 -
bGPSignalOut2
nGPSignalOut1_a
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Other control sources
Output Code C00007, output LA_TabPos, value:
20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
wDriveControlStatus LS_DisFree:wDis1 -
wStateDetermFailNoLow - LS_DisFree:wDis2
wStateDetermFailNoHigh LS_DisFree:wDis3
bDriveFail LS_DigitalOutput:bRelayLS_DisFree_b:bDis2
LS_DigitalOutput:bRelayLP_CanOut1.bState_B0
LS_DigitalOutput:bRelayLP_MciOut1.bState_B0
bDriveReady LS_DigitalOutput:bOut1LS_DisFree_b:bDis1
LS_DigitalOutput:bOut1LP_CanOut1:bState_B4
LS_DigitalOutput:bOut1LP_MciOut1:bState_B4
bCInhActive - LS_DisFree_b:bDis3 LP_CanOut1.bState_B3 LP_MciOut1.bState_B3
bQSPIsActive LS_DisFree_b:bDis4 LP_CanOut1.bState_B14 LP_MciOut1.bState_B14
bSpeedCcw LS_DisFree_b:bDis5
bSpeedActCompare LS_DisFree_b:bDis6 LP_CanOut1.bState_B11 LP_MciOut1.bState_B11
bImaxActive LS_DisFree_b:bDis7 LS_DigitalOutput: bOut3
bSpeedSetReached LS_DisFree_b:bDis8
nMotorCurrent_a LS_AnalogOutput:nOut2V_aLS_AnalogOutput:nOut2I_a
nMotorSpeedSet_a LS_DisFree.nDis2_a LS_DisFree_a:nDis2_a -
nMotorSpeedAct_a LS_AnalogOutput:nOut1V_aLS_AnalogOutput:nOut1I_a
LS_DisFree_a:nDis1_a
LS_AnalogOutput:nOut1V_a
LS_AnalogOutput:nOut1I_aLP_CanOut1.wState
LS_AnalogOutput:nOut1V_a
LS_AnalogOutput:nOut1I_aLP_MciOut1.wState
nMotorTorqueAct_a - LS_DisFree_a:nDis3_a
nDCVoltage_a LS_DisFree_a:nDis4_a
nMotorVoltage_a LS_DisFree_a: nDis5_a
bMBrakeReleaseOut LS_DigitalOutput:bOutHC
bMBrakeReleased LS_DisFree_b:bDis9
wMckState1 LS_DisFree:wDis4
wMckState2 LS_DisFree: wDis5
wMckActOperationMode LS_DisFree: wDis6 LS_DisFree.wDis1
bHomeDone LS_DisFree_b:bDis10
bHomePosAvailable LP_CanOut1.bState_B10 LP_MciOut1.bState_B10
bProfileDone LS_DisFree_b:bDis11
bProfileBusy LS_DisFree_b:bDis12 LP_CanOut1.bState_B9 LP_MciOut1.bState_B9
bAccelerating LS_DisFree_b:bDis13 -
bConstantDuty LS_DisFree_b:bDis15
bDecelerating LS_DisFree_b:bDis14
bDwellTime LS_DisFree_b:bDis16
bInTarget LS_DigitalOutput: bOut2 LP_CanOut1.bState_B8LS_AnalogOutput.bOut2
LP_MciOut1.bState_B8LS_AnalogOutput.bOut2
wActProfileNo LS_DisFree: wDis7 LS_DisFree.wDis3
wActPosMode LS_DisFree: wDis8 LS_DisFree.wDis2
dnTargetPos_p LS_DisFree_p:dnDis1_p -
dnSetPos_p LS_DisFree_p:dnDis2_p LP_CanOut1.dnOut34_p LP_MciOut1.dnOut34_p
bGPSignalOut1 LP_CanOut1.bState_B1 LP_MciOut1.bState_B1
bGPSignalOut2 LP_CanOut1.bState_B2 LP_MciOut1.bState_B2
nGPSignalOut1_a LP_CanOut1.wOut2 LP_MciOut1.wOut2
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Interface description
14.3 Interface description
14.3.1 Control words of the MotionControlKernel
The positioning control which is carried out within the application by theLS_MotionControlKernel system block, can be activated via the two control wordswMotionCtrl1 and wMotionCtrl2. The control words together form a 32-bit control doubleword by means of which the entire MotionControlKernel is controlled. [14-1]
All motion profiles in the different operating modes can be operated via this interface.
For this several possibilities are provided:
1. Direct control via a fieldbus systemFor this, the two control words can be activated via a port block by the fieldbus. In addition to some other signals (e. g. limit switches, speed override, which are connected to digital I/Os of the controller), by this all control signals can be activated via the bus (CAN, PROFIBUS, etc.).
2. Alternatively, the individual control bits or bit fields (e.g. profile number) can be changed for control. For this purpose, these control bits and bit fields are available at the input interface of the application.
?
wDriveControlStatus
wStateDetermFailNoLow
wStateDetermFailNoHigh
?
wMckState1
wMckState2
wMcKActOperationMode
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The following table shows the meaning of the individual bits
[14-1] Control double word for activating the MotionControlKernels
Bit Designation Description
0 ... 3 OpMode_Bit 0 ... 3 Operating mode Bit 3 Bit 2 Bit 1 Bit 0
Follow speed / position 0 0 0 0
Homing 0 0 0 1
Manual jog 0 0 1 0
Positioning 0 0 1 1
Stop 0 1 0 0
All others in preparation
4 ManJogPos Manual jog: manual jog right
5 ManJogNeg Manual jog: manual jog left
6 ManExecute2ndSpeed
TRUE: start of the 2nd manual mode traversing speed
7 ReleaseLimitSwitch TRUE: retracting the hardware limit switch activated
8 HomStartStop Homing: Start/stop of the homing process
9 HomSetPos Homing: setting of the home position
10 HomResetPos Homing: resetting of the home position
11 EnableSpeedOverride TRUE: activation of the speed override
12 EnableAccOverride TRUE: activation of the acceleration override
13 DisableS_Shape TRUE: deactivation of the profile rounding
14 PosTeachSetPos Latching of a position on the MCK into the profile with the corresponding profile no.
15 PosTeachActPos Latching of the current position into the profile with the corresponding profile no.
16 PosExecute TRUE: edge starts
17 PosFinishTarget Finish profile travel
18 PosDisableFollowProfile
TRUE: do not traverse sequence profile
19 PosStop TRUE: abort of the current profile
20 ... 23
PosModeBit0 ... 3 Positioning mode Bit 3 Bit 2 Bit 1 Bit 0
Absolute (shortest path) 0 0 0 1
Continuous 0 0 1
Relative 0 0 1 1
Absolute, Cw 0 1 0 0
Absolute, Ccw 0 1 0 1
24 ... 31
ProfileNo_Bit0 ... 7 Profile Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Profile 1 0 0 0 0 0 0 0 0
Profile 2 0 0 0 0 0 0 0 1
... ...
Profile 15 0 0 0 0 1 1 1 1
All others in preparation
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Interface description
14.3.2 Specifying an operating mode
Via the control word wMckCtrl1, or alternatively via the bits, the operating mode of theMCK can be set, see
Control double word for activating the MotionControlKernels ( 416)
Within the application the L_MckCtrl1Interface_1 function block collects the informationof the control word and that of the control bits and transmits it to the MCK as 32-bitcontrol word. By default, this FB is set in a manner that the "Following", "Homing", "Manualjog", and "Positioning" operating modes are set automatically by setting the profilenumbers 1 ... 3.
L_MckCtrlInterface ( 530)
??
wMckState1
wMckState2
wMcKActOperationMode
bHomeDone
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14.3.3 Control bits and process words for the motor control (MCTRL)
How to specify the position controller gain:
1. Input nPosCtrlAdapt_a = 100 %
2. Check whether nPosCtrlOutLimit = 100 %
3. Output of the position controller limitation = 100 %
Kp-position controller = (value in parameter C00254 ) x (0 .... 100 .... 200) %
Limit of position controller output: (0 .... 100 .... 200) %
Activation of the position control:
bPosCtrlOn = TRUE
wMcKActOperationMode
bHomePosAvailable
bHomeDone
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Interface description
14.3.4 Connecting and retracting limit switches
The travel range limits are monitored by limit switches via the inputs bLimitSwitchPos andbLimitSwitchNeg.
The two inputs respond to the FALSE status (fail-safe) and are to be connected to thecorresponding digital inputs to which the limit switches are connected.
Via an internal system interface an error is triggered and entered in the logbook of the controller; the drive can only be traversed again if the error has been acknowledged. The error response is set via C00595/1 /2.
The limit switches can be retracted by means of the functions "Manual jog" or "Retract limit switches".
If the limit switches are connected to decentralised terminals, the FB inputs can be connected to the decentralised terminal via a bus system (e. g. system bus).
Stop!
For a reliable detection of the travel limit ranges via the limit switches it is necessary that the triggering signal FALSE is available at the FB input bLimitSwitchPos or bLimitSwitchNeg for at least one request cycle!
Note!
The inputs bLimitSwitchPos and bLimitSwitchNeg cannot be deactivated!
If the travel range limits are not to be monitored (e. g. in the case of a rotary axis), simply set both inputs permanently to TRUE.
bProfileDone
bProfileBusy
bAccelerating
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14.3.4.1 Retracting the limit switches
Via the input bReleaseLimitSwitch you activate the "Retract limit switch" function to retracta limit switch that is operated.
The function can only be activated if a limit switch has been approached or overtravelled.
If the input bReleaseLimitSwitch is set to TRUE, the retracting direction is traversed until the axis has reached the permissible travel range again (the limit switch has been cleared again).
For the "Retract limit switch" function the same profile parameters are used as for the "Manual jog" function.
Permissible travel range
If software limit positions are set, the retracting process is carried out up to the corresponding software limit position.
If no software limit positions are set, the retracting process is carried out until the limit switch is cleared again.
Jamming of the limit switch
If the limit switch is jammed, the following happens:
If software limit positions are set, the retracting process is carried out up to the opposite software limit position.
– For instance, if the positive limit switch is approached and jammed, retracting is carried out to the negative software limit position.
If no software limit positions are set, retracting is carried out up to the opposite limit switch.
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Interface description
14.3.5 Manual jog
Via the inputs bManualJogPos and bManualJogPos the drive can be traversed manually("Inching mode"):
According to the setting of the software limit positions and the reference, the axis is movedSequence block control.
Case 1: reference known
If the reference is known and the software limit positions are set, i. e. at least one softwarelimit position is set > 0, a positioning process to the corresponding software limit positionis carried out by manual jog.
If the manual jog is not aborted before, the axis adopts the position set via the software limit positions and the message "Warning NegPositionLimit" or "Warning PosPositionLimit" is displayed.
The internal state machine is in the "DiscreteMotion" state; in this state it is not possible to overtravel the software limit positions set.
Case 2: reference not known
If the reference is not known, the travel range limits are only monitored via the limitswitches (if connected).
If manual jog is stopped manually by resetting bManualJogNeg or bManualJogPos, the drive is brought to standstill within the deceleration time set for manual jog.
Stop!
If the reference is not known, or if no software limit positions are set, the drive may run into a mechanical limit during manual jog, and machine parts can be destroyed or damaged!
bManualJogPos bManualJogNeg Function
False False No response
False True Manual homing in negative direction
True False Manual homing in positive direction
True True No response
bConstantDuty
bDecelerating
bDwellTime
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Manual jog to hardware limit position (limit switch)
If a limit switch is approached during manual jog, the FB error "CK01: positive HW limitswitch" or "CK02: negative HW limit switch" is detected.
The drive is brought to standstill within the deceleration time set for the stop profile, and the internal state machine changes to the "Error" status.
According to the configuration of the error, a corresponding response of the drive system results.
Smooth start-up and quick stop of the drive
The acceleration and deceleration for manual jog can be set separately via C01232/1 orC01232/2, enabling a smooth start-up and a quick stop of the drive:
[14.1] Example: Different settings for acceleration and deceleration
A quick deceleration ( C01232/2) decreases the time from letting go of the "jog key" to the point where the drive actually stops, so that the drive by this can be positioned better "by eye" and the desired stop position is not overtravelled.
Note!
If the response TRIP or Fail-QSP has been set for the error, the drive is brought to standstill within the deceleration time set for quick stop (QSP).
• The internal Sequence block control changes to the "Errorstop" status.
• In this case, observe that the quick stop function (QSP) of the controller has individual parameters for the ramp time (C00105).
Smooth start-up by slow acceleration (C08801) Quick stop by quick deceleration (C08802)
v [m/s]
t [s]
�
t [s]
bManualJogPos
TRUE
FALSE
� �
C01232/1 C01232/2
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Interface description
Further functions for manual jog
Manual jog
In specific applications or during commissioning of a system it may be required to traversethe drive manually without monitoring the HW limit switches. This is only possible for theManual jog operating mode by configuring the HW limit switch monitoring with C01230.
Manual jog with automatic start of a second speed after an operating time has elapsed.
If this function is activated with C01230, an automatic start of a second manual speed iscarried out after a waiting time has elapsed C01235/1 when the manual jog function isoperated. By this for instance a longer distance can be covered more quickly during manualjog if manual jog is being operated for a time that exceeds the waiting time and a higherspeed is parameterised for the second manual speed.
Manual jog with intermediate stop 1 ... 4
If the intermediate stops 1 ... 4 are switched on via C01230 and the home position isknown, an automatic stop in the intermediate stop positions 1 ... 4 is effected duringmanual jog. Traversing is continued by "letting go" and activating the signalsbManualJogPos/Neg. again
Danger!
The function "HW limit switch off at manual jog !" may damage the mechanical system.
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14.3.6 Acceleration and speed override
An "Override" is the change of profile parameters and their acceptance during thepositioning process.
In this case the traversing profile has to be adapted accordingly, so that positioning is carried out exactly to the target position defined, even if for example a change in speed occurs during the positioning process ("Speed override"):
[14.2] Override (here: speed override)
The override for speed, acceleration, and S-ramp time affects all motion profiles that are controlled by the internal profile generator:
– Manual jog
– Retracting the limit switches
– Homing
– Point-to-point positioning
Speed is reduced during the positioning process. In order to reach the position defined, the missing area has to be "attached" to the profile. Due to the speed reduction the positioning process takes longer (Δt).
wMckState1
wMckState2
bInTarget
v [m/s]
�
�
� �tt [s]
Note!
The override has no impact on:
• Synchronising processes
• Setpoint controls via external setpoints
• Abort via input bPosStop
• Speed setpoint selection in case of error (e. g. "Fail-QSP")
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Interface description
14.3.6.1 Speed override
If the input bExecuteVelOverride is set to TRUE, a speed override according to the overridevalue applied to the input nVelOverride_a is carried out.
If the input bExecuteVelOverride is reset to FALSE, the speeds which were defined via the profile parameters are traversed again. The acceleration/deceleration from the speed defined by override to the speed set in the profile in this case is carried out immediately.
The override value nVelOverride_a is a percentage value relating to the value Vmax specified in the machine parameters.
– nVelOverride_a = 0 ... 16384 ≡ 0 ... 100 % Vmax
– Values at the input nVelOverride_a > 16384 are ignored.
– If the override value nVelOverride_a is "0", the drive is brought to standstill from the current travelling speed.
14.3.6.2 Acceleration override
If the input bExecuteAccOverride is set to TRUE, an acceleration override according to theoverride value applied to the input nAccOverride_a is carried out.
If the input bExecuteAccOverride is reset to FALSE, the accelerations which were defined via the profile parameters are traversed again. The acceleration from the acceleration defined by override to the acceleration set in the profile in this case is carried out immediately.
The override value nAccOverride_a is a percentage value relating to the value amax specified in the machine parameters.
– nAccOverride_a = 0 ... 16384 ≡ 0 ... 100 % amax
– Values at the input nAccOverride_a > 16384 are ignored.
– If the override value nAccOverride_a is "0", the acceleration is reduced to "0", so that no movement takes place anymore.
Note!
The online change of the speed takes effect from the profile start until the deceleration phase starts. A change of the deceleration phase thus cannot be effected by a speed override!
Note!
The online change of the acceleration takes effect from the profile start until the deceleration phase starts. A change of the deceleration phase thus cannot be effected by an acceleration override!
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14.3.7 Homing
Sequence of a reference run
1. Start of the movement with starting acceleration (C01225/1) and starting speed (C01224/1)
2. Detection of a "pre-switch off", e. g. bHomingMark
3. Braking to search speed (C01224/1) with search acceleration (C01225/1)
4. If the home position is known now, the actual calculation of the home position is carried out, taking the following into consideration:
– Home positionThe home position is the position that is to be set as "HomePosition" after the homing process has been completed
– Reference dimension offsetThis is a offset distance by which the drive traverses after finding the home position with search speed. At the end of this movement the home position is set.
5. If required, a positioning movement can be carried out by entering a sequence profile number (C01228) immediately after the homing procedure has been completed.
Start of the homing or direct setting of thehome position:
bHomeStartStop = TRUEDuring the whole homing process thissignal has to remain set. Otherwise, i. e. inthe case of FALSE, the reference run isaborted, and the drive brakes to standstillwith the acceleration set.
Note!
By setting a low search speed and a high search acceleration it is achieved that
• braking to the search speed is effected quickly
• the position detection (at low search speed) is exact.
Note!
This positioning movement is carried out in the "Homing" operating mode.
If a sequence profile (e. g. "3") is selected for homing, which has a sequence profile number itself (e. g. "5"), this profile ("5") is not started automatically.
wMckState2
dnTargetPos_p
dnSetPos_p
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Interface description
The measuring system in the machine is selected by means of homing and the 0 positionis set within the possible physical travel range:
[14.3] Homing (selection of 0 position)
The zero position (home) can be defined by a reference run or by setting a home position:
If a reference run is carried out, the drive follows a previously selected path to find the home position.
When the reference is set, it is selected manually when the drive stands still.
Tip!
A reference run is mainly used for systems with feedback via encoders, resolvers, orsingle-turn absolute value encoders, as in the case of these systems the homeposition is lost when the supply voltage is switched off.
Usually the reference is set only once during commissioning or in the event ofservice (e. g. if drive components are replaced), and it is only used for systems withfeedback via absolute value encoders.
"Flying" homing:
By means of the "flying" homing, the homeposition of a mechanical system can be setor deleted during a running movement.There will be no jerk or compensationmovement.
bHomeSetPosition = TRUE:"Flying" homing, i. e. the position adopted at the time of activation is set as home position.Furthermore a desired home position value becomes the new "HomePosition" after reading in at dnPosProfilePosition.
bHomeResetPosition = TRUE:
– The home position is deleted
– The controller is no longer referenced.
– bHomePosAvailable = FALSE
wMckState2
dnTargetPos_p
dnSetPos_p
0-Position10 20 30 40 50 60-10
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14.3.7.1 Homing modes ( C1221)
For the reference run (home position search) different modes can be selected, which areexplained in detail in the following sections.
According to the mode selected, the following input signals are evaluated for the reference search:
Abbreviations used for the homing modes:
Mode 6: cw_Rn_cw_TP
Functional sequence:
1. Movement in positive direction
2. Negative edge of bHomingMark enables home position detection.
3. The following positive edge of the touch probe sensor is the home position.
Input Function
bHomingMark Reference switch
bHomingTPReceived Input for signal "Touch probe detected"
bLimitSwitchPos Positive limit switch
bLimitSwitchNeg Negative limit switch
Abbreviation Meaning
cw Movement in positive direction
ccw Movement in negative direction
Ln Negative travel range limit switch
Lp Positive travel range limit switch
MP Positive edge of the encoder zero pulse
Rn Negative edge of the reference switch
TP Touch probe detected
Trq_LIM Torque limit value reached
Note!
In specific homing modes, for the search of the limit switch a change-over to a higher speed is carried out than for approaching the reference switch/touch probe sensor. By this the homing time can be reduced, and accuracy can be increased.
bHomingMark
Reference position
bHomingTPReceived
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Interface description
Mode 7: ccw_Rn_ccw_TP
Functional sequence:
1. Movement in negative direction
2. Negative edge of bHomingMark enables home position detection.
3. The following positive edge of the touch probe sensor is the home position.
Mode 8: cw_TP
Functional sequence:
1. Movement in positive direction
2. The following positive edge of the touch probe sensor is the home position.
Mode 9: ccw_TP
Functional sequence:
1. Movement in negative direction
2. The following positive edge of the touch probe sensor is the home position.
Mode 10: cw_Lp_ccw_TP
Functional sequence:
1. Movement in positive direction
2. Reversing in the case of a positive edge of the positive travel range limit switch.
3. The following positive edge of the touch probe sensor is the home position.
bHomingTPReceived
Reference position
bHomingMark
bHomingTPReceived
Reference position
bHomingTPReceived
Reference position
bHomingTPReceived bLimitSwitchPosbLimitSwitchNeg
Reference position
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Mode 11: ccw_Ln_cw_TP
Functional sequence:
1. Movement in negative direction
2. Reversing in the case of a positive edge of the negative travel range limit switch.
3. The following positive edge of the touch probe sensor is the home position.
Mode 12: cw_Lp
Functional sequence:
1. Movement in positive direction
2. Positive edge of the travel range limit switch sets home position.
Note!
In this mode for the home position search the mechanical load system can also exit the travel range limit switch.
Then a return travel to the home position which was set with the positive edge of the travel range limit switch is carried out. By this, possibly the mechanical system remains on a limit switch operated.
It is recommended to set a reference offset to clear the travel range limit switch.
bHomingTPReceived bLimitSwitchPosbLimitSwitchNeg
Reference position
bLimitSwitchPosbLimitSwitchNeg
Reference position
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Interface description
Mode 13: ccw_Ln
Functional sequence:
1. Movement in negative direction
2. Positive edge of the travel range limit switch sets home position
Mode 14: cw_Trq_Lim
Functional sequence:
1. Movement in positive direction with a reduced torque.
2. The home position is set if it is detected that the torque limit is exceeded over a defined length of time ("Homing on positive stop").
– If no reference offset is set, this position is the home position.
– If a reference offset is set, traversing takes place around this offset with the correct sign, and at the end of this travel way the home position is set.
Note!
In this mode for the home position search the mechanical load system can also exit the travel range limit switch.
Then a return travel to the home position which was set with the positive edge of the travel range limit switch is carried out. By this, possibly the mechanical system remains on a limit switch operated.
It is recommended to set a reference offset to clear the travel range limit switch.
bLimitSwitchPosbLimitSwitchNeg
Reference position
Reference position
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Mode 15: ccw_Trq_Lim
Functional sequence:
1. Movement in negative direction with a reduced torque.
2. The home position is set if it is detected that the torque limit is exceeded over a defined length of time ("Homing on positive stop").
– If no reference offset is set, this position is the home position.
– If a reference offset is set, traversing takes place around this offset with the correct sign, and at the end of this travel way the home position is set.
Mode 100: Set_Ref_directly
This input brings about the setting of a home position without movement of the axis.
Setting the home position manually
Reference position
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Interface description
14.3.7.2 Use of a reference switch
In the homing modes with a reference switch the reference switch status is measured viathe input bHomingMark.
This input responds to the FALSE status (fail-safe) and is to be connected to the corresponding digital input to which the reference switch is connected.
14.3.7.3 Use of a touch probe sensor (in preparation)
14.3.7.4 Setting the homing speed
In specific homing modes, for the search of the limit switch a change-over to a higher speedis carried out than for approaching the reference switch or touch probe sensor. By this thehoming times can be reduced, and accuracy can be increased.
Further parameters for homing
14.3.7.5 Homing start
By setting the input bHomingStart to TRUE, you start homing in the homing mode set inC01221/1.
Via the status outputs bHomingBusy, bHomingDone and bHomePositionAvailable the current status of the reference search is shown.
If the input bHomingStart is reset to FALSE during homing, the reference run is cancelled, and the drive is brought to standstill.
A reference run can only be started in the "Homing" operating mode.
Note!
A high-precision homing or positioning with touch probe (TP) is in preparation.
In order to be able to use a TP sensitive homing mode even without the availability of the high TP precision, a signal at the digital input D3 is automatically interpreted as TP sensor signal.
Parameter Information
C01224/2 Low speed
C01225/2 Acceleration / deceleration at low speed
C01224/1 High speed
C01225/2 Acceleration / deceleration at high speed
C01227/1 Offset position
C01226/1 S-ramp time
C01222 Homing torque limit
C01223 Blocking time
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14.3.7.6 Setting the home position manually
If the homing mode 100: Set_Ref_directly" is selected in C01221/1, the home position canbe set manually via the input bHomeStartStop during the drive is at standstill. The currentactual position is set as home position (C01227/2).
14.3.7.7 Resetting the home position
By setting the input bResetHomePosition to TRUE, the "Home position known" status canbe reset.
The status outputs bHomingDone and bHomePositionAvailable are reset to FALSE.
14.3.7.8 "Home position set once" status
At the output bHomingDone the TRUE status shows that a reference run has taken place atleast once.
In contrast to the output bHomePositionAvailable, the output bHomingDone even remains on TRUE if a travel command has been executed, which caused a reset of the home position.
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Interface description
14.3.8 StartStop and profile number for controlling the profile generation
Positioning modes
For this see table
Control double word for activating theMotionControlKernels ( 416)
Mode Rotary axis Linear axis Information on touch probe
1 Absolute The axis is traversed to an absolute position.
The axis is traversed to an absolute position.
The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.
2 Relative The axis is traversed by a distance.
The axis is traversed by a distance.
The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.
3 CW* The axis is only moved in positive direction.The position selection is absolute.
Error message The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.The touch probe movement is carried out in CW direction.
4 CCW* The axis is only moved in negative direction.The position selection is absolute.
Error message The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.The touch probe movement is carried out in CCW direction.
* In preparation!
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14.3.9 Possible motion profiles
The following representation shows different motion profiles that can be traversed withthe L_MCPositioner FB:
[14.4] Possible motion profiles
v
t
v
t
v
t
v
t
v
t
v
t
v
t
� �
� �
� �
�
�
�
�
�
�
�
�
� �
�
�
�
Function
Asymmetrical trapezoidal profile with S-shaped ramps
Asymmetrical trapezoidal profile with linear ramps
Rounding of the profile with S-shaped ramps, where vprofile1 > vprofile2 or vend1 = vprofile2
Rounding profile with S-shaped ramps, where vprofile1 < vprofile2
Profile linkage
Profile linkage
Profile linkage with speed override in profile 2
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S-ramp time for jerk limitation
14.4 S-ramp time for jerk limitation
The maximum jerk is defined by the selection of an S-ramp time tjerk_max, after which themax. acceleration (amax) only is reached.
The actual jerk time tjerk is reduced according to the actual acceleration Acc:
Without jerk limitation With jerk limitation
1. Standstill
2. Acceleration with set jerk limitation 6. Deceleration with set jerk limitation
3. Acceleration according to acceleration profile (Acc) 7. Deceleration according to deceleration profile (Dec)
4. Reduce acceleration (jerk limitation) 8. Reduce deceleration (jerk limitation)
5. Traversing with Vel according to speed profile 9. Standstill (position target reached)
V
t
t
a
tJerk
1 2 3 4 5 6 7 8 9
Vel
Acc
Dec
a max
a max
t
�
�
tjerk_max tjerk_max
tjerk_max tjerk_max
jerk t jerk jerkt t jerk
�
�
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14.4.1 Switching off the S-ramp time
By setting the input bDisableSRamp to TRUE, an S-ramp time that may have been set in theprofile parameters is ignored, and traversing is carried out with linear ramps.
A deactivation of the S-ramp time before that start of a profile with S-ramp time causes a linear ramp generation.
A deactivation of the S-ramp time during a traversing process, however, is not accepted immediately in the profile generator, but the profile generator checks automatically when an online change of the ramp form can be carried out and then initiates it automatically.
Note!
If disproportionately high S-ramp times are set for low acceleration times, this may result in an incorrect profile generation.
Example: v = 100 mm/s, a = 1000 mm/s2
tacc = 0.1 s tjerk_max = 1 s
Therefore only set plausible S-ramp times; they should not exceed half the value of tacc.
Note!
Thus it is possible to start a travel profile with S-ramp time and then deactivate the S-ramp time, e. g. to traverse with a linear characteristic after reaching the profile speed.
It is also possible to change the ramp form during the braking phase, so that first a deceleration is initiated with a linear ramp, but when the position target is reached the S-ramp is traversed again.
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Limiting the torque
14.5 Limiting the torque
Via the inputs nTorqueMotLim C00728/1 and nTorqueMotGen_a the torque can bereduced.
The value nTorqueMotLim C00728/1 is a percentage value relating to the maximum torque of the axis (C00057).
– nTorqueLim_a = 0 ... 16384 ≡ 0 ... 100 % Mmax
– Values at the input nTorqueLim_a > 16384 are ignored.
14.5.1 "Home position known" status
At the output bHomePositionAvailable the TRUE status shows that the controller (still)knows the home position.
The output bHomePositionAvailable is reset to FALSE if a travel command has been executed, which caused a reset of the home position, or if the home position was reset manually via the input bResetHomePosition.
Note!
In homing modes 14 and 15 ("Homing on positive stop") the setting of this input is ineffective.
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14.5.2 "Position target reached" status
In C01245/1 you can define a window by means of which it is checked whether the targetposition has been reached.
If the current position is within this window, the output bInTarget is set to TRUE.
Due to the symmetrical structure of the window around the target position odd values in C01245/1 are rounded down to even values (see ).
[14.5] Symmetrical division of the window around the target position
Note!
• The target position including the window has to be within the maximum traversing range.
• Observe the following if you use bInTarget as step enabling condition within a sequencer:Also after a new profile has been started, bInTarget can already be in the TRUE status, as the change to FALSE is only carried out when the window is exited again.
Target position
120C01245/1 =
120 [unit]
60 [unit] 60 [unit]
Target position
C0 = 811245/1
80 [unit]
40 [unit] 40 [unit]
� �
Target windowTarget window
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Limiting the torque
14.5.3 "Transient phenomenon completed" status
At the output bDwellTime it is shown by the TRUE status that the settling time specified inC01244/1 has elapsed after completion of the setpoint generation.
Like this mechanical transient phenomena of the tool when it reaches the target positioncan be taken into consideration.
The settling time starts to elapse when the setpoint has reached the target position(output bProfileDone = TRUE).
After the settling time has elapsed, the output bDwellTime is set to TRUE and is automatically reset to FALSE if a new positioning process starts.
[14.6] Definition of the settling time
14.5.4 Sequence block control
A special feature is the automatic step enable to sequence profiles with and withoutrounding speed.
For this the profile number of the desired sequence profile (1 … 15) is simply set in the profile parameters of a profile.
If the profile is traversed, an automatic start of the sequence profile set is carried out when the final speed is reached.
– Like this profile chains can be defined without additional control processes.
– When the profile parameter Vend = "0" is set, there is no velocity changeover, however, if Vend <> "0" is set, a velocity changeover takes place.
This function can be performed in all positioning modes.
Actual value profile Setpoint profile
t [s]
v [m/s]
t [s]
bProfileDone
TRUE
FALSE
t [s]
bDwellTime
TRUE
FALSE
Dwell time�
�
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15 Working with the FB Editor
The function block editor (in the following called "FB Editor") is available in the »Engineer«for the device versions "StateLine" and "HighLine".
The FB Editor serves, for example, to:
execute an online monitoring of the technology application running in the device (e.g. for diagnostic purposes).
reconfigure the I/O interconnection of the technology application.
implement an individual drive solution for the "HighLine" version.
15.1 Basics
Using the function block interconnection, any signal interconnections can beimplemented. Diverse FBs are available for digital signal processing, signal conversion andlogic modules.
For special tasks it has proved of value to use the integrated technology applications as abasis for modifications or extensions of the available FB interconnections. Moreover, theexperienced user has the opportunity to implement own drive solutions independent ofthe predefined technology applications by using the "free interconnection".
For this purpose, the FB Editor provides the following functions:
Copying & pasting of interconnection elements (also device-independent)
Export & import of the interconnection
Comparison of two interconnections (also online <-> offline comparison)
Overview window and zoom functions
Comments on the signal flow
Online monitoring
The option to mask out non-used inputs and outputs of modules is also sensible tominimise the complexity of the FB interconnection and to adapt the clarity of theinterconnection to the customers need.
All graphical information of the FB interconnection view (positions of the FBs, line or flagpresentation of the connection, visibility of the inputs/outputs) are saved with theparameter set in the memory module of the controller and can be uploaded anytime intothe FB Editor of the »Engineer« even if the Engineer project is not available.
Note!
The illustrations of the FB Editor user interface and the dialog boxes in this documentation are based on the »Engineer« V2.10.
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Basics
15.1.1 Basic components of a drive solution
A drive solution consists of the following basic components:
Signal sources (for control and setpoint signals)
Signal flow of the technology application
Signal outputs (for status and actual value signals)
[15-1] Basic components of a drive solution
Regarding the 8400 device series, these three components are available for the FBinterconnection and classified as follows:
Further information on the individual modules can be obtained from the followingsubchapters!
STOP
M
0
1
n
t
�
...............
..............
Signalinputs
Setpointgenerator
PIDProcesscontroller
Drivecontrol
Motorcontrol
SignaloutputsActuating drive-speed
.................
Motion
Module type Name Task Example
Function block L_name General function block for free interconnection (only HighLine)
L_Compare_1L_PCTRL_1
System block LS_name Signal interface to inverter-internal functions
LS_DigitalInputLS_AnalogOutput
Port block LP_name • Process data communication via a fieldbus using a communication module
• Process data communication via CAN on board
LP_CanIn1/-Out1LP_CanIn2/-Out2LP_CanIn3/-Out3LP_MciIn/ -Out
Application block LA_name Block for a technology application LA_NCtrl
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15.1.1.1 What is a function block?
A function block (FB) can be compared with an integrated circuit that contains a specificcontrol logic and delivers one or several values when being executed.
The function blocks are classified alphabetically in a "function library".
Each function block has a unique identifier and a processing number which defines the position at which the function block is calculated during runtime.
[15-2] Information on a function block in the FB Editor
Tip!
A detailed description of all available function blocks can be found in the mainchapter "Function library". ( 494)
Name of the function block Processing number Button for opening the online help for the function block Another available function block of the same type (numbering in ascending order)
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Basics
15.1.1.2 Parameterisable function blocks
Some function blocks have parameters which serve to change particular settings duringoperation, if required, or which display actual values & status information.
The symbol in the head of the module, a double-click on the module, or the Parameter... command in the context menu of the module serve to open the parameterisation dialog or the parameter list for the module.
Example
Parameterisation dialog for the FB L_DigitalDelay_2:
15.1.1.3 What is a system block?
System blocks are a special variant of a function block. They partly activate real hardware,e. g. the digital and analog inputs/outputs and the motor control.
[15-3] Example: System block "LS_MotorInterface" for mapping the motor control
Name of the system block Button for opening the online help for the system block Button for opening the parameterisation dialog or the parameter list for the system block
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15.1.1.4 What is a port block?
All input/output ports of the application can be inserted in the interconnection in the formof port blocks in order to get access to the associated element variables.
[15-4] Example: Input port "LP_CanIn1" and output port "LP_CanOut1"
Input/output ports enable, for instance, the data exchange in an interconnection or with amaster control via a corresponding transmission medium (e.g. system bus).
15.1.1.5 What is an application block?
The application block contains the interconnection of the selected technology function.
On the I/O level, the application block only provides the inputs and outputs of the technology function.
On the application level, the interconnection of the technology function is shown in detail.
Name of the port block Button for opening the online help for the port block Button for opening the parameterisation dialog or the parameter list for the port block
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Basics
15.1.2 Conventions used for input/output identifiers
This chapter describes the conventions used for the identifiers of the inputs/outputs of theblocks. The conventions ensure a uniform and consistent terminology and make readingand comprehending the interconnection and application easier.
Tip!
The conventions used by Lenze are based on the "Hungarian Notation". Thisensures that the most significant characteristics of the corresponding input/output (e.g. the data type) can be instantly recognised from its identifier.
An identifier consists of
a data type entry
an identifier (the "proper" name of the input/output)
an (optional) signal type specification
Data type entry
The data type entry provides information about the data type of the corresponding input/output:
Identifier
The identifier is the proper name of the input/output and should indicate the applicationor function.
Identifiers always start with a capital letter.
If an identifier consists of several "words", then each "word" must start with a capital letter.
All other letters are written in lower case.
Data type entry Meaning Resolution Value range
b BOOL 1 bit 0 ≡ FALSE / 1 ≡ TRUE
dn DINT 32 bits -2147483647 ... 2147483647
n INT 16 bits -32767 ... 32767
w WORD 16 bits 0 ... 65535
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Signal type entry
In general, it is possible to assign a certain signal type to the inputs and outputs of theLenze function blocks. There are e.g. digital, scaled, position, acceleration and speedsignals.
A corresponding ending (preceded by an underscore) is added to the identifier of the corresponding input/output to indicate the signal type.
15.1.3 Scaling of physical units
With regard to the parameter setting & configuration of the controller it is very helpful toknow the signal types and their scaling listed in the following table, which are used toprocess physical values (e.g. an angular velocity or position) in the function blockinterconnection.
Signal type entry& port symbol
in the FB Editor
Meaning Resolution Value range
_a Analog/scaled 16 bits ± 199.99 %
_v / Angular velocity 16 bits ± 30000.0 min-1
_p / Position 32 bits -231 ... 231-1 increments
Digital (BOOL) 8 bits 0 ≡ FALSE; 1 ≡ TRUE
- Other (WORD) 16 bits 0 ... 65535
Signal type entry& port symbol
in the FB Editor
Meaning Scaling
external value ≡ internal value
_a Analog/scaled 100 % ≡ 214 ≡ 16384
_v / Angular velocity 15000 rpm ≡ 214 ≡ 16384
_p / Position 1 encoder revolution ≡ 216 increments
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User interface
15.2 User interface
How to access the FB Editor:
1. Go to Project View and select the 8400 controller.
2. Go to Workspace and select the FB Editor tab.
The FB Editor displays the wiring of the technology function selected in C00005. The interconnection of the I/Os of the controller depend on the control mode selected in C00007.
The user interface of the FB Editor includes the following control and function elements:
Tip!
Go to the »Engineer« toolbar and click the icon to hide the Project View and theMessage Window. This increases the Workspace available for the FB Editor. Arenewed click on the symbol shows the Project View and the Message Windowagain.
Toolbar Search function Level selection Editor view/overview
Drawing area Context menu Status bar Not shown:Overview window
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15.2.1 Toolbar
The FB Editor is provided with an individual toolbar in the upper position which in thefollowing text is called FB Editor toolbar.
Click an icon to execute the corresponding function.
Symbol Function
Insert function block or system blockInserting a function block ( 464) Inserting a system block ( 466)
Inserting a port block ( 468)
Adjusting online and offline interconnection ( 487)
Acknowledge error in the interconnection / reload interconnection
Correct interconnection
Start online monitoring
Interrupt online monitoring
Close online monitoring
Enlarge view of interconnection
Reduce view of interconnection
Enlarge cutout of interconnection
Show total interconnection in the drawing area
Show print view
Printing the interconnection ( 488)
Search function ( 451)
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15.2.2 Search function
Use the search function to get quickly to a certain module of the interconnection.
The list field of the search function contains all function blocks, system blocks, and port blocks of the interconnection:
When you select a module in the list field, this module is zoomed in and selected at the same time (the following example shows the LS_DigitalInput system block):
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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.
15.2.3 Level selection
Go to the list field Level selection and select the interconnection level to be displayed.
"I/O interconnection" level
This level displays only the I/O interconnection of the currently selected technologyapplication for a better overview.
Details of the application are masked out in this level.
The interconnection of the I/Os of the controller with the inputs and outputs of the application in detail depends on the control mode selected in C00007.
The parameterisation dialogs on the Application parameter tab correspond to the application block displayed in this level.
[15-5] Schematic diagram of "I/O interconnection"
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"Application interconnection" level
This level displays the interconnection of the application selected in C00005 in detail. Allfunction blocks used in the application and the system blocks which provide the interfacesto the drive and motor interface and to the MotionControlKernel (MCK) are displayed withtheir connections.
The interconnection of the I/Os of the controller with the inputs and outputs of the application is masked out in this level.
[15-6] Schematic diagram of "Application interconnection"
"Free interconnection" level
This level serves to implement an individual drive solution for the HighLine version.
Note!
When you select the "Free interconnection" level for the first time, you are prompted to confirm whether the interconnection from the I/O level and the application level are to be combined and copied into this level.
When you confirm this confirmation prompt with Yes, the I/O level and the application level are not available anymore. This action can only be undone by resetting the application to a predefined Lenze application! Reset changed interconnection ( 486)
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15.2.4 Editor view/overview
Use the list field at the top right to change from the Editor to the overview and vice versa.
The overview shows all function blocks used of the interconnection in the upper list fieldin the order of their processing. The lower list field shows all used system blocks.
The processing order of the function blocks can be optimised manually or according to an automatically generated selection. Changing the processing order ( 481)
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15.2.5 Context menu
You can open a context menu via the right mouse button for each object (function block,system block, line, comment, etc.) and for the drawing area:
The contents of the context menu depend on the type of object you click on.
Example: Context menu for a function block:
15.2.6 Status bar
The status bar of the FB Editor shows, among other things, information about the systemload and the error status of the interconnection:
Symbol Meaning
System load
Here: out of the available computing time of 610 μs, 226 μs are required by the application.
Error status of the interconnection
The interconnection has no errors and no warnings
The interconnection has errors and/or warnings
Communication status
Offline
Online
Communication error
Adjustment status
Offline and online interconnection match
Offline and online interconnection are different
Update rate for monitoring values
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15.2.7 Overview window
The overview window shows the drawing area in a reduced view. The overview windowserves 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.
The green frame in the overview window indicates the interconnection cutout that is currently displayed in the drawing area.
Use the mouse pointer to shift and resize the cutout to be displayed.
How to shift the cutout presented in the drawing area:
1. Position the mouse pointer to the green frame in the overview window.
• The mouse pointer symbol becomes a positioning cross.
2. Click left mouse button and shift the green frame to its new position by keeping the mouse button pressed, so that the desired cutout of the interconnection is displayed in the drawing area.
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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.
• According to the size of the frame that is drawn, also the presentation size of the objects in the drawing area changes.
Tip!
Go to the FB Editor toolbar and click the icon to adapt the view size so that all objects included in the interconnection are visible in the drawing area.
Automatic scroll ("AutoScroll function") If you reach a window limitation in the drawing area when shifting an object or inthe overview window when shifting the green frame, and if you then shortly holdthe mouse pointer in this position, an automatic scrolling into the correspondingdirection is carried out:
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15.3 Using the FB-Editor as "Viewer"
The main purpose of the FB Editor is the individual configuration of the selectedtechnology application. However, you can also use the FB Editor to
make a diagnosis of the application (when an online connection has been established),
get a better understanding for the operating mode of the application,
use the interconnection as an alternative parameterisation access.
Diagnostics of the application
When an online connection to the controller has been established, the current values aredisplayed at the inputs and outputs of the objects.
Process-scaled signals can be scaled in a "user-defined" way for easy diagnostics in the FB Editor. Change online display format ( 461)
Getting a better understanding for the operating mode of the application
Make yourself familiar with the signal flow of the interconnection to get a betterunderstanding of the operating mode of the application or individual functional areas.
The symbol in the head of the block or the Help command in the context menu for the block serve to open the online help for the block.
Using the interconnection as an alternative parameterisation access
The symbol in the head of the module, a double-click on the module, or the Parameter... command in the context menu of the module serve to open the parameterisation dialog or the parameter list for the module.
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15.3.1 Following connections of inputs and outputs
In addition to the Search function you can use the context menu of inputs and outputs tofollow connections and quickly reach certain signals.
How to navigate from one output to another connected input:
1. Open the context menu (right mouse button) of the port symbol at the output.
• The context menu for the port symbol contains all inputs which are connected to the output:
2. Select input in the context menu to which you want to navigate.
• As a result, the selected input is displayed in the centre of the drawing area (in this example: nGPAnalogSwitchOut_a):
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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:
1. Open the context menu (right mouse button) of the port symbol at the output:
2. Select output in the context menu.
• Since an output can only be connected to an input, the context menu contains only an output.
The output is displayed in the centre of the drawing area.
15.3.2 Keyboard commands for navigation
Keyboard command Function
<Picture > Scroll up
<Picture > Scroll down
<Shift> + <picture > Scroll to the left
<Shift> + <picture > Scroll to the right
<POS1> Scroll to the left edge of the interconnection
<END> Scroll to the right edge of the interconnection
<Ctrl> + <Pos1> Scroll to the left upper corner of the interconnection
<Ctrl> + <End> Scroll to the right lower corner of the interconnection
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15.3.3 Change online display format
For online monitoring in the FB Editor the display format of the input and output data of ablock can be adapted individually. Process-scaled signals can be scaled in a "user-defined"way for easy diagnostics in the FB Editor. Thus, the display of these signals gets a processreference.
How to change the data display format of block inputs/outputs:
1. Go to the context menu of the block and select the Online display format command.
• Tip: You can call the context menu of a block by clicking with the right mouse button on the header of the block.
• The Display format dialog box is displayed:
2. Select the inputs/outputs from the list the display format of which is to be changed.
• Note: In the Global format setting list field the "---" entry must be selected so that the display format can be changed.
• If you click further inputs/outputs while pressing <Ctrl> they are added to an already existing selection (multi-selection).
• The <Shift> key serves to select a related area of inputs/outputs.
• More functions:
Display masked out connections
Display additional information
Select all inputs/outputs
Reset all format information
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3. Click the symbol to edit the display format of the selected inputs/outputs.
• The Edit display format dialog box is displayed:
4. Go to the Format displayed list field and select the "User-defined" entry.
5. Go to the Format template list field and select "No template".
6. Select the required scaling, unit, number of decimal positions, and sign handling.
7. Press OK to accept the settings and close the Edit display format dialog box.
• The Display format dialog box now displays the text "User-defined" for the changed inputs/outputs in the Format column.
After all required formats have been changed:
8. Press Back to close the Display format dialog box.
• For online monitoring, the changed format is used.
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15.4 Reconfiguring the predefined interconnection
How to proceed:
1. Insert additionally required objects into the interconnection.
2. Hide unneeded inputs/outputs of function blocks and system blocks to obtain a clearly arranged interconnection.
3. Arrange the objects in the drawing area in a reasonable manner.
4. Establish the connections required for the desired function.
5. If required, change (optimise) the processing order of the function blocks.
Tip!
Detailed information on the individual steps can be obtained from the followingsubchapters!
15.4.1 Insert/delete objects
Objects can be inserted in the interconnection via the FB Editor toolbar and the contextmenu of the drawing area. The following subchapters provide detailed information on howto insert/delete the different objects.
Tip!
Use the context menu of the drawing area to insert a function block, system block,port block or comment directly to the current position of the mouse pointer in thedrawing area.
If you insert an object via the corresponding icon in the FB Editor toolbar, the objectis always placed at the top left corner in the drawing area.
Interconnection elements cannot only be copied within the same interconnectionbut also across all devices within the same project, as long as the devices stem fromthe same product family. Copying interconnection elements (across all devices)( 483)
Note!
With the "StateLine" version, the interconnection shown in the application level cannot be edited.
Symbol Function
Inserting a function block ( 464)
Inserting a system block ( 466)
Inserting a port block ( 468)
Inserting a comment ( 470)
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15.4.1.1 Inserting a function block
How to insert a function block into the interconnection:
1. Click the icon in the FB editor toolbar.
• The Insert Function 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.
• A preview of the selected function block is displayed.
• A detailed description of all available function blocks can be found in the main chapter "Function library". ( 494)
3. If required, define search criterions to accordingly narrow down the function blocks available:
• Block name:String which must be contained in the name of the function block.
Note!
In the FB Editor, function blocks are only available in the "Application interconnection" level!
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4. After changing the search criteria, press the Find button to update the selection.
• Then, only the function blocks complying with the features set in the search criteria are shown in the Search Results list field.
• If no search criteria are set, all function blocks available are shown.
5. Select the function block to be inserted in the Search results list field.
6. Press Insert button.
• The dialog box is closed and the selected function block is inserted into 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 canexecute the following functions in addition to the general processing functions (Copy,Insert, Delete):
Related topics
Deleting objects that are no longer required ( 472)
Changing connector visibilities ( 473)
Arranging objects in the drawing area ( 474)
Creating/deleting connections ( 475)
Changing the processing order ( 481)
Command Function
Center Move the visible cutout of the drawing area so that the block is centred.
Connector visibilities... Define visible inputs and outputs of the block.Changing connector visibilities ( 473)
Online display format... Adapt the display format of the input and output data of the block individually for online monitoring.
Change online display format ( 461)
Parameter... Open the parameter list/parameterisation dialog for the block. • Only if function block is parameterisable.
Help Show online help for the block.
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15.4.1.2 Inserting a system block
A system block is inserted similarly to the way a function block is inserted.
How to insert a system block into the interconnection:
1. Click the icon in the FB editor toolbar.
• The Insert Function Block dialog box appears:
2. Unless it is already displayed, select the System Blocks tab.
• All system blocks available are displayed in the Search results list field.
• A preview of the selected function block is displayed.
3. If required, define Search criterions to accordingly narrow down the system blocks available:
• Block name:String which must be contained in the name of the system block.
4. After changing the search criteria, press the Find button to update the selection.
• Then, only the system blocks complying with the features set in the search criteria are shown in the Search Results list field.
• If no search criteria are set, all system blocks available are shown.
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5. Select the system block to be inserted in the Search results list field.
6. Press Insert button.
• The dialog box is closed and the selected system block is inserted into 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 canexecute the following functions in addition to the general processing functions (Copy,Insert, Delete):
Related topics
Deleting objects that are no longer required ( 472)
Changing connector visibilities ( 473)
Arranging objects in the drawing area ( 474)
Creating/deleting connections ( 475)
Command Function
Center Move the visible cutout of the drawing area so that the block is centred.
Connector visibilities... Define visible inputs and outputs of the block.Changing connector visibilities ( 473)
Online display format... Adapt the display format of the input and output data of the block individually for online monitoring.
Change online display format ( 461)
Parameter... Open the parameter list/parameterisation dialog for the block.
Help Show online help for the block.
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15.4.1.3 Inserting a port block
All input/output ports defined for the application on the Ports tab can be inserted into theinterconnection in the form of port blocks in order to get access to the associated elementvariables.
Tip!
You can change between the Ports and FB Editor tabs at any time to define newports and afterwards insert them into the interconnection.
How to insert a port block into the interconnection:
1. Click the icon in the FB Editor toolbar.
• The Insert port block dialog box appears.
• All port blocks available are displayed in the Search results list field.
• A preview of the selected port block is displayed.
2. If required, define search criterions to accordingly narrow down the port blocks available:
• Block name:String which must be contained in the name of the port block.
3. After changing the search criteria, press the Find button to update the selection.
• Then, only the port blocks complying with the features set in the search criteria are shown in the Search Results list field.
• If no search criteria are set, all port blocks available are shown.
4. Select the port block to be inserted in the Search results list field.
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5. Press Insert button.
• The dialog box is closed and the selected port block is inserted into the interconnection.
Context menu for the port block
If you right-click on the header of a port block, a context menu opens via which you canexecute the following functions in addition to the general processing functions (Copy,Insert, Delete):
Related topics
Deleting objects that are no longer required ( 472)
Changing connector visibilities ( 473)
Arranging objects in the drawing area ( 474)
Creating/deleting connections ( 475)
Command Function
Center Move the visible cutout of the drawing area so that the block is centred.
Connector visibilities... Define visible inputs and outputs of the block.Changing connector visibilities ( 473)
Online display format... Adapt the display format of the input and output data of the block individually for online monitoring.
Change online display format ( 461)
Parameter... Open the parameter list/parameterisation dialog for the block.
Help Show online help for the block.
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15.4.1.4 Inserting a comment
Comments can be inserted at any position in the drawing area.
As of the »Engineer« V2.10, the interior colour and text alignment of a comment can bechanged via a properties dialog. Now the sizes of comments can also be changed using themouse pointer. When using different interior colours you can use comments to graphicallyarrange areas that belong together in terms of function or separate them from other areas:
[15-7] Example: Graphical arrangement of FBs by means of two comments that overlap.
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. Go to the Context menu (right mouse key) and select the New comment command.
• The Properties dialog box is displayed:
3. Enter the required comment into the text field.
4. Optional: Change preset interior colour.
• For this purpose, click the left Change... button to open the Colour dialog box to select another interior colour.
Note!
The term "Arrangement" does not mean a logical arrangement of the function blocks. The comments are only graphical presentation elements of the FB Editor.
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5. Optional: Change preset text alignment.
• For this purpose, click the right Change... button to open the Text alignment dialog box to select another text alignment.
6. Press OK to close the Properties dialog box and insert the comment.
• After being inserted, the corner points of the comment are shown:
7. Optional: Change size of the comment.
• For this purpose click one of the corner points with the left mouse button and enlarge the comment to the required size with the mouse button pressed.
8. Optional: Drag comment.
• For this purpose click the comment with the left mouse button and move the comment to the required position with the mouse button pressed.
Tip!
The Properties dialog box for a comment already available can be opened bydouble-clicking the comment.
Related topics
Deleting objects that are no longer required ( 472)
Arranging objects in the drawing area ( 474)
Creating/deleting connections ( 475)
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15.4.1.5 Deleting objects that are no longer required
Objects that are no longer required can be easily deleted again. "Delete" only means thatthe object is removed from the drawing area. If you have deleted an object from thedrawing area, you can reinsert it any time into the interconnection.
How to delete objects that are no longer required:
1. Select objects to be deleted.
• You can select a single object by clicking the header of the object.
• You can select objects that are placed together by drawing a frame around these objects while keeping the mouse button pressed.
• If you click the header of further objects while pressing <Ctrl>, these will be added to an already existing selection (multi-selection).
• All selected objects are highlighted by a light green header.
2. Press <Del>.
Related topics
Deleting connections that are no longer required ( 480)
Note!
Deleting an object cannot be undone.
Together with the object, all available connections to this object are deleted.
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15.4.2 Changing connector visibilities
Inputs and outputs that are not connected can be hidden for each block. This serves toreduce 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.
• The Define Visible Inputs and Outputs for Function Blocks is displayed:
• All visible connections have a checkmark.
• In case of a block that is inserted anew, all inputs and outputs are visible at first.
• Inputs and outputs with a light grey checkbox are already connected and thus cannot be hidden.
2. By setting/removing the checkmarks or via the buttons you can define the visible inputs and outputs.
3. Press OK to accept the selected definition and close the dialog box.
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15.4.3 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 theinputs and outputs can be created easily. A division into functional areas may also besensible to get a better understanding of the application.
Objects which are already connected, can also be dragged to another (free) position in thedrawing area. The available connections will be automatically re-routed after dragging.
How to drag an object:
1. Click the header of the object (and keep the button pressed).
2. Keep the button pressed and drag the object to the required position in the drawing area.
• Via <Esc> you can cancel this action.
How to drag several objects at the same time:
1. Select the objects to be dragged.
• You can select a single object by clicking the header of the object.
• If you click the header of further objects while pressing <Ctrl>, these will be added to an already existing selection (multi-selection).
• You can easily select objects that are placed together by drawing a frame around these objects while keeping the mouse button pressed.
• All selected objects are highlighted by a light green header.
2. Keep the mouse button pressed on the header of one of the selected objects and drag it to the required position in the drawing area.
• Via <Esc> you can cancel this action.
Note!
A red header indicates that the object overlaps with other objects in the drawing area!
Arrange the objects so that no overlap occurs.
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15.4.4 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 thedesired function.
A connection always has a direction and therefore always has a source and a target.
Permissible/impermissible connections
Several connections can lead from one output.
However, maximally one connection may end in an input.
Only inputs/outputs of the same signal type can be connected.
An output represents a possible source in the interconnection.
An input represents a possible target in the interconnection.
Therefore it is always possible to start a new connection from an output.
Therefore it is only possible to start a new connection from an input if there is no connection already ending in this input.
Thus, a connection between different port symbol cannot be established.
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Connection types
Connections can either be created by means of connection lines or port identifiers ("flags")
[15-8] Example 1: Connection via connection line
[15-9] Example 2: Connection via flags
Tip!
The commands Show as flag or Show as line in the context menu of a connectionserve to change the representation of the connection at any time.
When an output is connected to several inputs via flags, three points are displayed("...") at the output instead of the concrete input identifier. The context menu of theport symbol shows all inputs which are connected to the output.
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15.4.4.1 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.
• If you then move the mouse pointer away from the port symbol, a new connection is "drawn" from this port symbol.
• Via <Esc> you can cancel this action.
2. Click the port symbol where the connection is to end.
• Thereupon the corresponding connection is routed automatically if the connection is permissible.
Tip!
If you move the mouse pointer across the port symbol while drawing a new connection, you can see whether the connection is permissible or not from the colour of the drawn line and from the mouse pointer symbol.
• Permissible connection:
• Impermissible connection (different port symbol):
The command Show as flag in the context menu of a line serves to change therepresentation of the connection at any time.
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15.4.4.2 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. Drag the port segment to the required port while keeping the left mouse button pressed:
After releasing the mouse button, the connection via port identifiers (flags) is created. The corresponding port identifier consists of the block name and the name of the input/output:
Tip!
The command Show as line in the context menu of a flag serves to change therepresentation of the connection at any time.
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15.4.4.3 Creating a connection via connection dialog
You can also create connections by means of a selection dialog instead of dragging bymouse. This especially makes sense if there is a great distance between the ports to beconnected in the drawing area.
How to create a connection using the selection dialog:
1. Right-click the port identifier or click the port symbol from which the connection is to start.
• The context menu for the port is displayed.
2. Go to the context menu for the port and select the Add/change connection... command.
• The Add/change connection dialog box is displayed:
• In a tree structure all inputs and outputs of the application are shown to which a connection is permissible.
• You can enter an optional text into the Filter input field to reduce the selection to the blocks or ports which contain the entered text.
• If you activate the Show hidden ports control field, the hidden ports for system and function blocks are shown as well.
3. Select the port where the connection is to end from the tree structure.
4. Activate the Add connection as flag control field if a port identifier (flag) is to be inserted instead of a connection line.
5. Press OK to create the connection to the selected port and close the dialog box.
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15.4.4.4 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.
• If you click further connection lines while pressing <Ctrl> they are added to an already existing selection (multi-selection).
• All connection lines are highlighted in red.
2. Press <Del>.
How to delete port identifiers/flags:
1. Select the port identifiers to be deleted.
• Select a single port identifier by directly clicking on the port identifier with the left mouse button.
• If you click further port identifiers while pressing <Ctrl> they are added to an already existing selection (multi-selection).
• All selected port identifiers are highlighted by a light green header.
2. Press <Del>.
Related topics
Deleting objects that are no longer required ( 472)
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15.4.5 Changing the processing order
If you insert a function block into the interconnection, an order index is automaticallyassigned to this function block. By means of this order index it is defined in which order theindividual function blocks are calculated at runtime.
The first function block inserted contains the order index "1", the next function block inserted contains the order index "2", etc.
The respective order index is displayed in the header of the function block in the rectangle after the block name.
[15-10] Example: Function blocks with order index
Note!
When a function block is shifted, its order index is maintained.
The processing order influences the result!
• In certain cases it may be sensible to change the processing order, but if you select an unfavourable processing order, errors may arise!
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How to change the processing order manually:
1. Use the list field at the top right to change from the Editor to the overview.
• The overview displays all function blocks of the interconnection in the order of their processing
• In the first "Order" column the order index of each function block is listed.
2. Unless already selected, select the entry "Manual selection" in the Optimisation... list field.
3. Select the function block which is to receive a different position within the processing order.
• If you click further function blocks while pressing <Ctrl> they are added to an already existing selection (multi-selection).
• The <Shift> key serves to select a related area of function blocks.
4. Move the function block(s) to the desired position using the and buttons.
• The button serves to exchange two selected function blocks with regard to their order.
5. Repeat steps 3 and 4 until the required processing order has been established.
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Reconfiguring the predefined interconnection
Changing the processing order according to an automatically generated selection
In addition to the manual selection, the Optimisation... list field also offers two options foran automatic adaptation of the processing order:
Signal flow: The processing order is optimised according to the signal flow.
Topology: The processing order is optimised according to the x/y arrangement of the function blocks in the FB Editor.
As long as an automatic adaptation has been selected, a manual change of the processingorder is not possible.
15.4.6 Copying interconnection elements (across all devices)
Interconnection elements can be copied across the devices within the project if the devicesbelong to the same product family (e.g. Inverter Drives 8400).
All types of blocks and comments can be copied to the clipboard via the Copy command orthe <Ctrl>+<c> shortcut and then be inserted into the FB interconnection of the same oranother project device of the same product family using the Insert command or the<Ctrl>+<v> shortcut.
During the copy process into the clipboard, existing connections between copied blocks are copied as well, and the layout is kept too. Moreover, the separate technical objects (e.g port definition) are copied. Selected connections cannot be copied on their own.
The Insert command is available if the clipboard is not empty and if it was copied from a device of the same product family. Within this product family, all device types (e.g. 8400 xxxxLine Vxx.xx) are permitted.
After the Insert command has been selected, a dialog box is displayed which serves to select which elements are to be inserted from the clipboard and how to solve name conflicts, if any.
After inserting the elements, they are marked in the target interconnection in order to be repositioned or deleted again to undo the insertion.
Inserting from the clipboard can be repeated. The originally copied contents of the clipboard remains unchanged when it is inserted.
How to copy one or several interconnection elements:
1. Select the objects to be copied.
• You can select a single object by clicking the header of the object.
• If you click the header of further objects while pressing <Ctrl>, these will be added to an already existing selection (multi-selection).
• You can easily select elements that are placed together by drawing a frame around these elements while keeping the mouse button pressed.
• All selected objects are highlighted by a light green header.
2. Go to the context menu and select the Copy command (or <Ctrl>+<c>).
• The selected elements are copied into the clipboard of the FB Editor.
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3. If the elements are to be copied into a function block interconnection of another project device, change to the corresponding interconnection via the project view.
4. Go to the context menu and select the Insert command (or <Ctrl>+<v>).
5. Go to the Insert FB interconnection dialog box and select the elements to be inserted from the clipboard.
• Detailed information on this dialog box can be obtained from the following subchapter "Insert options for copied elements". ( 485)
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 <Enter> button if at least one element is selected in the list for insertion.
• The original layout and the relative position of the inserted blocks to each other are maintained.
• When copying across the devices, you also insert the corresponding separate technical objects (e.g. port definition).
• The inserted elements are deleted from the list. If the list is empty, the dialog box is closed and the connections are inserted depending on the selected option.
7. If there are still elements to be entered in the list, repeat steps 5 and 6 until all elements are inserted as intended.
8. Press Close to stop the insertion and close the dialog box.
• You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active.
• The elements inserted into the target interconnection so far are maintained.
• The connections for the blocks inserted so far are inserted depending on the selected option.
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Reconfiguring the predefined interconnection
15.4.6.1 Insert options for copied elements
If interconnection elements have been copied to the clipboard, the »Engineer« will displaya list of all elements contained in the clipboard when selecting the command Insert in theInsert FB interconnection dialog box:
The list shows the elements which can be added to the target interconnection, and theelements which cannot be added.
In the "Selection" column, you can check/uncheck the elements to be added.
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.
The symbols in the Toolbar serve to execute the following functions:
Symbol Function
Add the selected elements to the interconnection
Show the elements to be added but are marked with an error or warning.
Show the elements not to be added and marked with an error or warning.
Show blocks
Show connections
Show parameters
Show comments
Show system elements
Show all
Print view
Print list
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The buttons serve to execute the following functions:
15.4.7 Reset changed interconnection
If you only made changes on the I/O level, you can reset them by selecting a predefinedcontrol scheme in C00007. If you have also made changes on the application level, youmust first reset the changed application to a predefined application in C00005.
How to reset the application interconnection to a predefined application:
1. Go to the Application parameters tab.
2. Select the required application in the Application list field.
How to reset the I/O interconnection to a predefined control scheme:
1. Go to the Application parameters tab.
2. Select the required control scheme in the Control source list field.
Button Function
Insert Add elements selected in the list to the target interconnection • Only possible if at least one element in the list has been selected for insertion. • Insertion is also possible via the <Enter> button if at least one element is selected in the
list for insertion. • The original layout and the relative position of the inserted blocks to each other are
maintained. • When copying across the devices, you also insert the corresponding separate technical
objects (e.g. port definition). • The added elements are simultaneously deleted from the list. The connections are added
depending on the selected option.
Close Close dialog box. • You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active. • The elements inserted into the target interconnection so far are maintained. • The connections for the blocks inserted so far are inserted depending on the selected
option.
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Adjusting online and offline interconnection
15.5 Adjusting online and offline interconnection
If the »Engineer« detects that online and offline interconnection differ from each other,the Adjust interconnection dialog box is displayed with various options for the adjustment:
Tip!
The dialog box can also be opened via the symbol in the FB Editor toolbar.
Button Function
Accepting the interconnection from the device
Add the interconnection in the device to the FB Editor. The interconnection existing in the FB Editor will be overwritten by this action.
Transferring the interconnection to the device
Transfer the offline interconnection which is currently not visible in the FB Editor to the device. The interconnection existing in the device will be overwritten by this action.
Showing differences Showing differences between online and offline interconnection.
Cancel Close the Adjust interconnection dialog box without making an adjustment.
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15.6 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 beforeprinting.
How to print the interconnection:
1. Click the icon in the FB Editor toolbar.
• The Circuit print size dialog box is displayed.
2. Select the desired size and press OK.
• The standard dialog box Print appears.
3. Press OK to start the printing process.
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Comparing interconnections
15.7 Comparing interconnections
The comparison operation serves to compare FB interconnections of 8400 devices withinthe project. An offline<>online comparison and the comparison of two online devices arepossible.
How to compare two FB interconnections:
1. Select the command Application dataCompare FB interconnections....
• The Compare FB interconnections dialog box is displayed:
2. Select the interconnections to be compared in the project view represented on the left and right.
• In order to execute a comparison with an online device, select "Online" in one of the two upper list fields. Then all available online devices are displayed for selection.
• If you select "Online" in one of the two upper list fields, you can also compare the interconnections of two available online devices.
Note!
Only applications can be compared which have been enabled in the FB Editor!
Block positions, line representations, and connector visibilities are not compared.
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3. Click Compare.
• If the comparison was executed successfully, the comparison result is displayed as a list (see the following section).
• If a comparison of the selected interconnections is not possible, a corresponding message is displayed.
4. In order to stop the comparison operation and close the dialog box: PressBack.
Representation of the comparison result
The comparison result is displayed in the form of a list in the FB interconnection comparisondialog box:
The symbols in the Toolbar serve to show or hide different details and export and print the shown list.
Symbol Function
Only show differences • Button can only be activated in expert mode.
Show blocks
Show connections
Show processing order
Show properties of blocks and connections • Function is only available in expert mode.
Show comments • Function is only available in expert mode.
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Comparing interconnections
Show block parameters • Function is only available in expert mode.
Show application parameters • Function is only available in expert mode.
Show all • Function is only available in expert mode.
Show general information
Show summary
Activate expert mode • In the expert mode, also non-functional differences are shown.
Apply filter • Only show list entries which contain the text entered in the input field. • Function is only available in expert mode.
Export shown list as comma-separated list (*.csv)
Print view
Print list
Symbol Function
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15.8 Copying interconnection
In contrast to copying/inserting selected interconnection elements via the clipboard, thefunction described in this chapter serves to replace the current FB interconnection of adevice completely by the FB interconnection of another project device.
A complete interconnection comprises:
Function blocks (use and parameter values)
System blocks (application and parameter values)
Port blocks (use and parameter values)
Connections
Comments
Interconnection layout (arrangement of the modules)
Port definition of the ports used in the FB interconnection
How to copy the complete interconnection into another project device:
1. Select the application with the FB interconnection to be copied in the project view.
2. Select the command Application dataCopy FB interconnections....
3. Go to project view and select the application which is to be inserted into the copied FB interconnection.
4. Select the command Application dataAdd FB interconnection....
• The command can only be activated if an FB interconnection has been copied from a device of the same device type and version.
• After the command has been executed, the module assembly is compared. If there are relevant deviations, the insertion is refused and a corresponding message is displayed.
• If an insertion is possible, you are asked if the FB interconnection is to be inserted.
5. Confirm the question if the copied FB interconnection is to be inserted with Yes.
• After the insertion, an update of the project is required.
Note!
The complete FB interconnection can only be copied between devices of the same device type and version (e.g. 8400 HighLine C V1.0).
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Export/import of the interconnection
15.9 Export/import of the interconnection
The interconnection existing in the project can be exported to a file for reuse/transfer toother devices.
How to export the interconnection from the project to a file:
1. Go to the Project view in the context menu of the controller and select the Export FB interconnection... command.
2. Enter the memory location and the file name for the interconnection to be exported in the Export FB interconnection dialog box.
3. Click Save to export the interconnection and close the dialog box.
How to import the interconnection from a file to the project:
1. Go to the Project view in the context menu of the controller and select the Import FB interconnection... command.
2. Select the file with the interconnection to be imported in the Import FB interconnection dialog box.
3. Click Open to import the interconnection and close the dialog box.
Note!
The file can only be imported to devices of the same device type and version (e.g. 8400 HighLine C V1.0).
8400 HighLine C | Software ManualFunction library
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16 Function library
Overview of function blocks available
Function block Number Runtime Function
L_Absolut 2 2 μs ... converts a bipolar input signal into a unipolar output signal.
L_AddSub 1 3 μs ... adds / subtracts the input signals.
L_AnalogSwitch 5 2 μs ... switches between two analog input signals.
L_And 3 2 μs ... ANDs three binary signals.
L_And5 2 2 μs ... ANDs five binary signals.
L_Arithmetik 5 7 μs ... combines two analog signals arithmetically.
L_ArithmetikPhi 3 7 μs ... combines two angle signals arithmetically.
L_Compare 5 5 μs ... compares two analog signals and can be used e.g. to implement a trigger.
L_ComparePhi 5 5 μs ... compares two angle signals.
L_ConvBitsToWord 3 3 μs ... converts 16 bit input values of "BOOL" type into one output value of "WORD" type.
L_ConvDIntToWords 3 3 μs ... converts one input value of "DINT" type into two output values of "WORD" type.
L_ConvUnitsToIncr 3 3 μs Description in preparation
L_ConvWordsToDInt 3 3 μs ... converts two input values of "WORD" type into an output value of "DINT" type.
L_ConvWordToBits 3 3 μs ... converts one input value of "WORD" type into the corresponding 16 bit output values.
L_Counter 3 3 μs ... is a digital upcounter and downcounter.
L_DFlipFlop 2 3 μs ... provides two stable states depending on the input signals.
L_DigitalDelay 3 2 μs ... delays binary signals.
L_DigitalLogic 2 2 μs ... provides a binary output signal which is generated by the logic combination of three input signals.
L_DigitalLogic5 2 2 μs ... provides a binary output signal which is generated by the logic combination of five input signals.
L_DT1 1 3 μs ...differentiates signals. The function block can, for instance, be used to apply an acceleration (dv/dt).
L_GainOffset 3 3 μs Description in preparation
L_GainOffsetP 3 3 μs
L_GainOffsetPhiP 2 3 μs
L_JogCtrlExtension 1 5 μs Description in preparation
L_Limit 2 3 μs ... limits signals to adjustable value ranges.
L_LimitPhi 3 3 μs Description in preparation
L_MckCtrlInterface 1 5 μs ...serves to control the MotionControlKernel system block.
L_MckStateInterface 1 5 μs ...provides information about the status signalling of the MotionControlKernel FB.
L_MPot 1 10 μs ... replaces a hardware motor potentiometer as setpoint source.
L_MulDiv 2 4 μs ... multiplies the analog input signal with a factor.
L_Mux 1 3 μs ... one of eight input signals is selected and applied to the output.
L_Negation 2 2 μs ... converts analog input signals.
L_NLim 2 3 μs Description in preparation
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Overview of system blocks available
L_Not 7 2 μs ... converts digital input signals.
L_Nset 1 50 μs ... contains a ramp generator with comprehensive parameterisation and control options to condition a setpoint signal.
L_OffsetGain 3 4 μs Description in preparation
L_OffsetGainP 3 17 μs ... for setting the offset and gain of analog input signals.
L_OffsetGainPhiP 2 17 μs ... for setting the offset and gain for angle signals.
L_Or 3 2 μs ... ORs three binary signals.
L_Or5 2 2 μs ... ORs five binary signals.
L_PCTRL 1 20 μs ... is a PID controller and can be used for various control tasks.
L_PhaseIntK 2 5 μs ... integrates a speed to an angle.
L_PT1 3 3 μs ... filters and delays analog signals.
L_RLQ 1 3 μs ... links a selected direction of rotation to the QSP function with wire-break protection.
L_RSFlipFlop 2 3 μs ... saves a binary input information element and resets it on command..
L_SampleHold 2 3 μs ... saves a value.
L_SignalMonitor_a 1 15 μs ... serves to output analog output signals of other FBs, SBs or LAs.
L_SignalMonitor_b 1 3 μs ... serves to output binary output signals of other FBs, SBs or LAs.
L_SQrt 1 3 μs Description in preparation
L_Transient 4 3 μs ... Evaluation of digital signal edges and conversion into timed pulses.
System block Function
LS_AnalogInput Interface for the analog inputsAnalog inputs ( 179)
LS_AnalogOutput Interface for the analog outputsAnalog outputs ( 183)
LS_DataAccess Description in preparation
LS_DeviceMonitor Description in preparation
LS_DigitalInput Interface for the digital inputsDigital inputs ( 187)
LS_DigitalOutput Interface for the digital outputsDigital outputs ( 197)
LS_DisFree ... shows any number of 16-bit process data signals on display codes.
LS_DisFree_a ... shows four analog process signals in percent on display codes.
LS_DisFree_b ... shows eight boolean process signals on display codes represented in bits.
LS_DisFree_p Description in preparation
LS_DriveInterface Interface for drive control (DCTRL)Drive control (DCTRL) ( 54)
LS_Keypad Keypad control
LS_MotionControlKernel Interface for the MotionControlKernel
Function block Number Runtime Function
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LS_MotorInterface Interface for the motor control (MCTRL)Motor control (MCTRL) ( 83)
LS_ParFix ... provides two permanent parameter setting values for the interconnection in the application.
LS_ParFree ... provides four WORD signals.
LS_ParFree_a ... provides four analog signals.
LS_ParFree_b ... provides 16 digital signals.
LS_ParFree_p Description in preparation
LS_ParFree_v ... provides four speed signals.
LS_PulseGenerator ... provides nine fixed frequencies and one configurable frequency.
LS_SetError ...serves to activate parameterisable reactions to user-defined events.
Error management ( 285)
System block Function
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Function blocks | L_Absolut
16.1 Function blocks
16.1.1 L_Absolut
This FB converts a bipolar input signal into a unipolar output signal.
Inputs
Outputs
Function blocks: L_Absolute_1 L_Absolute_2
Runtime: 2 μs
IdentifierData type
Information/possible settings
nIn1_aINT
Input signal
IdentifierData type
Value/meaning
nOut_aINT
Output signal
nOut_anIn1_a
?L_Absolut_
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_AddSub
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16.1.2 L_AddSub
This FB is provided with two adding inputs and one subtracting input.
Inputs
Outputs
Function blocks: L_AddSub_1
Runtime: 3 μs
IdentifierData type
Information/possible settings
nIn1_aINT
Input signal 1This input is added
nIn2_aINT
Input signal 2This input is added
nIn3_aINT
Input signal 3This input is subtracted
IdentifierData type
Value/meaning
nOut_aINT
Output signalOut = In1 + In2 - In3
nOut_anIn1_a
nIn2_a
nIn3_a
?L_AddSub_
+ -+ +
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Function blocks | L_AnalogSwitch
16.1.3 L_AnalogSwitch
This function block switches between two analog input signals. The switching is controlledvia a boolean input signal.
Inputs
Outputs
Function blocks: L_AnalogSwitch_1 L_AnalogSwitch_2 L_AnalogSwitch_3 L_AnalogSwitch_4 L_AnalogSwitch_5
Runtime: 2 μs
IdentifierData type
Information/possible settings
nIn1_aINT
Input signal 1
nIn2_aINT
Input signal 2
bSetBOOL
Selection of the input signal for the output to nOut_a
False nIn1_a
True nIn2_a
IdentifierData type
Value/meaning
nOut_aINT
Output signal
nOut_anIn1_a
nIn2_a
bSet
?L_AnalogSwitch_
0
1
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_And
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16.1.4 L_And
This FB implements the ANDing of the input signals.
Inputs
Outputs
Function
[16-1] Truth table of the FB L_And
Function blocks: L_And_1 L_And_2 L_And_3
Runtime: 2 μs
IdentifierData type
Information/possible settings
bIn1bIn2bIn3
BOOL
Input signal
IdentifierData type
Value/meaning
bOutBOOL
Output signal
Inputs Output
bIn3 bIn2 bIn1 bOut
False False False False
False False True False
False True False False
False True True False
True False False False
True False True False
True True False False
True True True True
bOutbIn2
bIn3
bIn1
?L_And_
&
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Function blocks | L_And5
16.1.5 L_And5
This FB implements the ANDing of the input signals.
Inputs
Outputs
Function
[16-2] Truth table of the FB L_And5
Function blocks: L_And5_1 L_And5_2
Runtime: 2 μs
IdentifierData type
Information/possible settings
bIn1...bIn5
BOOL
Input signal
IdentifierData type
Value/meaning
bOutBOOL
Output signal
Inputs Output
bIn5 bIn4 bIn3 bIn2 bIn1 bOut
False False False False False False
False False False False True False
False False False True False False
False False False True True False
False False True False False False
... False
True True True False True False
True True True True False False
True True True True True True
bOut
bIn2
bIn3
bIn4
bIn5
bIn1
?L_And5_
&
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Arithmetik
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16.1.6 L_Arithmetik
This FB can combine two analog signals arithmetically.
The arithmetic function is selected via the Function parameter.
All internal intermediate results and the value output at the nOut_a output are internally limited to ±32767.
Inputs
Outputs
Parameter
Function blocks: L_Arithmetik_1 L_Arithmetik_2 L_Arithmetik_3 L_Arithmetik_4 L_Arithmetik_5
Runtime: 7 μs
IdentifierData type
Information/possible settings
nIn1_aINT
Input signal 1
nIn2_aINT
Input signal 2
IdentifierData type
Value/meaning
nOut_aINT
Output signal • Internal limitation to ±32767
Parameter Possible settings Information
C00338 (L_Arithmetik_1)C00339 (L_Arithmetik_2)C00650/1 (L_Arithmetik_3)C00650/2 (L_Arithmetik_4)C00650/3 (L_Arithmetik_5)
Function selection
0
1
2
3
4 When the denominator has the value "0", it will be set to "1".
5
nOut_a
nIn1_a
nIn2_a
± 32767x
y
byFunction
L_Arithmetik_ ?
+
/ x/(1-y)
- *
nOut_a nIn1_a=
nOut_a nIn1_a nIn2_a+=
nOut_a nIn1_a nIn2_a–=
nOut_a nIn1_a nIn2_a⋅16384
----------------------------------------=
nOut_anIn1_anIn2_a--------------------- 164⋅=
nOut_anIn1_a
16384 nIn2_a–---------------------------------------- 16384⋅=
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Function blocks | L_ArithmetikPhi
16.1.7 L_ArithmetikPhi
This FB can combine two angle signals arithmetically.
The arithmetic function is selected via the Function parameter.
All internal intermediate results and the value provided at the dnOut_p output are
internally limited to ±2147483647 (= 231 - 1).
Inputs
Outputs
Parameter
Function blocks: L_ArithmetikPhi_1 L_ArithmetikPhi_2 L_ArithmetikPhi_3
Runtime: 7 μs
IdentifierData type
Information/possible settings
dnIn1_pDINT
Input signal 1
dnIn2_pDINT
Input signal 2
IdentifierData type
Value/meaning
dnOut_pDINT
Output signal • Internal limitation to ±2147483647
Parameter Possible settings Information
C01010/1 (L_ArithmetikPhi_1)C01010/2 (L_ArithmetikPhi_2)C01010/3 (L_ArithmetikPhi_3)
Function selection
0 dnOut_p = dnIn1_p
1 dnOut_p = dnIn1_p + dnIn2_p
2 dnOut_p = dnIn1_p - dnIn2_p
3 dnOut_p = dnIn1_p * dnIn2_p
4 dnOut_p = dnIn1_p / dnIn2_p
dnOut_p
dnIn1_p
dnIn2_p
± 2147483647x
y
byFunction
L_ArithmetikPhi_ ?
+ -
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Compare
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16.1.8 L_Compare
This FB compares two analog signals and can be used e.g. to implement a trigger.
Comparison operation , hysteresis and window size can be parameterised.
Inputs
Outputs
Parameter
Function blocks: L_Compare_1 L_Compare_2 L_Compare_3 L_Compare_4 L_Compare_5
Runtime: 5 μs
IdentifierData type
Information/possible settings
nIn1_aINT
Input signal 1
nIn2_aINT
Input signal 2
IdentifierData type
Value/meaning
bOutBOOL
Status signal "Comparison statement is true"
True The statement of the selected comparison mode is true.
Parameter Possible settings Information
C00680 (L_Compare_1)C00685 (L_Compare_2)C00690 (L_Compare_3)C00693/1 (L_Compare_4)C00693/2 (L_Compare_5)
Function selection
1 nIn1 = nIn2
2 nIn1 > nIn2
3 nIn1 < nIn2
4 |nIn1| = |nIn2|
5 |nIn1| > |nIn2|
6 |nIn1| < |nIn2|
bOutnIn1_a
nIn2_a
?L_Compare_
f �
� � ��
=
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Function blocks | L_Compare
16.1.8.1 Function 1: nIn1 = nIn2
Selection: Function = 1
This function compares two signals with regard to equality. It can, for instance, provide the comparison "actual speed equals setpoint speed " (nact = nset).
Use Window ( ) to set the window within which the equality is to apply.
Use Hysteresis ( ) to set a hysteresis if the input signals are not stable and the output oscillates.
[16-3] Function 1: Switching performance
[16-4] Function 1: Example
C00681 (L_Compare_1)C00686 (L_Compare_2)C00691 (L_Compare_3)C00694/1 (L_Compare_4)C00694/2 (L_Compare_5)
0.00 % 100.00 Hysteresis • Lenze setting: 0.00 %
C00682 (L_Compare_1)C00687 (L_Compare_2)C00692 (L_Compare_3)C00695/1 (L_Compare_4)C00695/2 (L_Compare_5)
0.00 % 100.00 Window size • Lenze setting: 0.00 %
Parameter Possible settings Information
TRUE
FALSE
bOut �
nIn2_a nIn1_a
�� �
nIn1_a
nIn2_a
TRUE
FALSE
bOut
t
t
��
��
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Compare
506 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.8.2 Function 2: nIn1 > nIn2
Selection: Function = 2
This function serves, for instance, to implement the comparison "actual speed is higher than a limit value" (nact > nx) for one direction of rotation.
[16-5] Function 2: Switching performance (: Hysteresis)
Functional sequence
1. If the value at nIn1_a exceeds the value at nIn2_a, bOut changes from FALSE to TRUE.
2. Only if the signal at nIn1_a falls below the value of nIn2_a - hysteresis again, bOut changes back from TRUE to FALSE.
[16-6] Function 2: Example, (: Hysteresis)
TRUE
FALSE
bOut
nIn2_anIn1_a
�
nIn1_a
nIn2_a
TRUE
FALSE
bOut
t
t
�
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8400 HighLine C | Software ManualFunction library
Function blocks | L_Compare
16.1.8.3 Function 3: nIn1 < nIn2
Selection: Function = 3
This function serves, for instance, to implement the comparison "actual speed is lower than a limit value" (nact < nx) for one direction of rotation.
[16-7] Function 3: Switching performance, (: Hysteresis)
Functional sequence
1. If the value at nIn1_a falls below the value at nIn2_a, bOut changes from FALSE to TRUE.
2. Only if the signal at nIn1_a exceeds the value of nIn2_a - hysteresis again, bOut changes back from TRUE to FALSE.
[16-8] Function 3: Example, (: Hysteresis)
16.1.8.4 Function 4: |nIn1| = |nIn2|
Selection: Function = 4
This function serves, for instance, to implement the comparison "nact = 0".
This function is similar to function 1. However, the amount of the input signals is generated before signal processing (no sign).
Function 1: nIn1 = nIn2
TRUE
FALSE
bOut
nIn2_anIn1_a
�
nIn1_a
nIn2_a
TRUE
FALSE
bOut
t
t
�
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Compare
508 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.8.5 Function 5: |nIn1| > |nIn2|
Selection: Function = 5
This function serves, for instance, to implement the comparison "|nact| > |nx|" independently of the direction of rotation.
This function is similar to function 2. However, the amount of the input signals is generated before signal processing (no sign).
Function 2: nIn1 > nIn2
16.1.8.6 Function 6: |nIn1| < |nIn2|
Selection: Function = 6
This function serves to implement the comparison "|nact| < |nx|" independently of the direction of rotation.
This function is similar to function 3. However, the amount of the input signals is generated before signal processing (no sign).
Function 3: nIn1 < nIn2
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8400 HighLine C | Software ManualFunction library
Function blocks | L_ComparePhi
16.1.9 L_ComparePhi
This FB compares two angle signals.
Comparison operation , hysteresis and window size can be parameterised.
Inputs
Outputs
Parameter
Function blocks: L_ComparePhi_1 L_ComparePhi_2 L_ComparePhi_3 L_ComparePhi_4 L_ComparePhi_5
Runtime: 5 μs
IdentifierData type
Information/possible settings
dnIn1_pDINT
Input signal 1
dnIn2_pDINT
Input signal 2
IdentifierData type
Value/meaning
bOutBOOL
Status signal "Comparison statement is true"
True The statement of the selected comparison mode is true.
Parameter Possible settings Information
C01670/1 (L_ComparePhi_1)...C01670/5 (L_ComparePhi_5)
Function selection
1 dnIn1 = dnIn2
2 dnIn1 > dnIn2
3 dnIn1 < dnIn2
4 |dnIn1| = |dnIn2|
5 |dnIn1| > |dnIn2|
6 |dnIn1| < |dnIn2|
C01671/1 (L_ComparePhi_1)...C01671/5 (L_ComparePhi_5)
0.00 incr 100.00 Hysteresis • Lenze setting: 0.00 %
C01672/1 (L_ComparePhi_1)...C01672/5 (L_ComparePhi_5)
0.00 incr 100.00 Window size • Lenze setting: 0.00 %
bOutdnIn1_p
dnIn2_p
?L_ComparePhi_
f �
� � ��
=
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ComparePhi
510 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.9.1 Function 1: dnIn1 = dnIn2
Selection: Function = 1
This function compares two signals with regard to equality. It can, for instance, provide the comparison "actual speed equals setpoint speed " (nact = nset).
Use Window ( ) to set the window within which the equality is to apply.
Use Hysteresis ( ) to set a hysteresis if the input signals are not stable and the output oscillates.
[16-9] Function 1: Switching performance
[16-10] Function 1: Example
TRUE
FALSE
bOut �
dnIn2_p dnIn1_p
�� �
dnIn1_p
dnIn2_p
TRUE
FALSE
bOut
t
t
��
��
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8400 HighLine C | Software ManualFunction library
Function blocks | L_ComparePhi
16.1.9.2 Function 2: dnIn1 > dnIn2
Selection: Function = 2
This function serves, for instance, to implement the comparison "actual speed is higher than a limit value" (nact > nx) for one direction of rotation.
[16-11] Function 2: Switching performance (: Hysteresis)
Functional sequence
1. If the value at dnIn1_p exceeds the value at dnIn2_p, bOut changes from FALSE to TRUE.
2. Only if the signal at dnIn1_p falls below the value of dnIn2_p - hysteresis again, bOut changes back from TRUE to FALSE.
[16-12] Function 2: Example, (: Hysteresis)
TRUE
FALSE
bOut
dnIn2_pdnIn1_p
�
dnIn1_p
dnIn2_p
TRUE
FALSE
bOut
t
t
�
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ComparePhi
512 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.9.3 Function 3: dnIn1 < dnIn2
Selection: Function = 3
This function serves, for instance, to implement the comparison "actual speed is lower than a limit value" (nact < nx) for one direction of rotation.
[16-13] Function 3: Switching performance, (: Hysteresis)
Functional sequence
1. If the value at dnIn1_p falls below the value at dnIn2_p, bOut changes from FALSE to TRUE.
2. Only if the signal at dnIn1_p exceeds the value of dnIn2_p - hysteresis again, bOut changes back from TRUE to FALSE.
[16-14] Function 3: Example, (: Hysteresis)
16.1.9.4 Function 4: |dnIn1| = |dnIn2|
Selection: Function = 4
This function serves, for instance, to implement the comparison "nact = 0".
This function is similar to function 1. However, the amount of the input signals is generated before signal processing (no sign).
Function 1: dnIn1 = dnIn2
TRUE
FALSE
bOut
dnIn2_pdnIn1_p
�
dnIn1_p
dnIn2_p
TRUE
FALSE
bOut
t
t
�
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8400 HighLine C | Software ManualFunction library
Function blocks | L_ComparePhi
16.1.9.5 Function 5: |dnIn1| > |dnIn2|
Selection: Function = 5
This function serves, for instance, to implement the comparison "|nact| > |nx|" independently of the direction of rotation.
This function is similar to function 2. However, the amount of the input signals is generated before signal processing (no sign).
Function 2: dnIn1 > dnIn2
16.1.9.6 Function 6: |dnIn1| < |dnIn2|
Selection: Function = 6
This function serves to implement the comparison "|nact| < |nx|" independently of the direction of rotation.
This function is similar to function 3. However, the amount of the input signals is generated before signal processing (no sign).
Function 3: dnIn1 < dnIn2
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ConvBitsToWord
514 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.10 L_ConvBitsToWord
This FB converts 16 bit input values of "BOOL" type into one output value of "WORD" type.
Inputs
Outputs
Function blocks: L_ConvBitsToWord_1 L_ConvBitsToWord_2 L_ConvBitsToWord_3
Runtime: 3 μs
IdentifierData type
Information/possible settings
bBit0...bBit15
BOOL
Input signal
IdentifierData type
Value/meaning
wOutWORD
Output signal
bBit0
bBit1
bBit2
bBit12
bBit13
bBit14
bBit15
wOut
?L_ConvBitsToWord_
0
1
2
12
13
14
15
WORD
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8400 HighLine C | Software ManualFunction library
Function blocks | L_ConvDIntToWords
16.1.11 L_ConvDIntToWords
This FB converts an input value of "DINT" type into two output values of "WORD" type.
Inputs
Outputs
Function blocks: L_ConvDIntToWords_1 L_ConvDIntToWords_2 L_ConvDIntToWords_3
Runtime: 3 μs
IdentifierData type
Information/possible settings
dnInput_pDINT
Input signal
IdentifierData type
Value/meaning
wOutLWordWORD
Output signal Low Word
wOutHWordWORD
Output signal High Word
dnInput_pwOutLWord
wOutHWord
?L_ConvDIntToWords_
WORDDInt
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ConvWordsToDInt
516 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.12 L_ConvWordsToDInt
This FB converts two input values of "WORD" type into an output value of "DINT" type.
Inputs
Outputs
Function blocks: L_ConvWordsToDInt_1 L_ConvWordsToDInt_2 L_ConvWordsToDInt_3
Runtime: 3 μs
IdentifierData type
Information/possible settings
wInLWordWORD
Input signal Low Word
wInHWordWORD
Input signal High Word
IdentifierData type
Value/meaning
dnOut_pDINT
Output signal
dnOut_pwInLWord
wInHWord
?L_ConvWordsToDInt_
WORD DInt
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8400 HighLine C | Software ManualFunction library
Function blocks | L_ConvWordToBits
16.1.13 L_ConvWordToBits
This FB converts one input value of "WORD" type into the corresponding 16 bit outputvalues.
Inputs
Outputs
Function blocks: L_ConvWordToBits_1 L_ConvWordToBits_2 L_ConvWordToBits_3
Runtime: 3 μs
IdentifierData type
Information/possible settings
wInputWORD
Input signal
IdentifierData type
Value/meaning
bBit0...bBit15
BOOL
Output signal
bBit0
bBit1
bBit2
bBit12
bBit13
bBit14
bBit15
wInput
?L_ConvWordToBits_
0
1
2
12
13
14
15
WORD
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Counter
518 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.14 L_Counter
This FB is a digital up/downcounter which is limited to the input value wCmpVal.
Inputs
Outputs
Function blocks: L_Counter_1 L_Counter_2 L_Counter_3
Runtime: 3 μs
IdentifierData type
Information/possible settings
bClkUpBOOL
Clock input • With each edge, the module counts up by "1". • Only FALSE/TRUE edges are evaluatedNote: The static state "1" is not permissible at this input.
bClkDownBOOL
Clock input • With each edge, the module counts down by "1". • Only FALSE/TRUE edges are evaluatedNote: The static state "1" is not permissible at this input.
wnLdValWORD
Starting value • Assigned value is internally interpreted as "INT" data type (-32767 ... +32767), i.e.
the most significant bit determines the sign.
bLoadBOOL
Load input • The input has the highest priority.
True Accept starting value wnLdVal.
wCmpValWORD
Comparison value • Assigned value is internally interpreted as "INT" data type (-32767 ... +32767), i.e.
the most significant bit determines the sign.
IdentifierData type
Value/meaning
bEqualBOOL
True Comparison value reached
wOutWORD
Counter content • Internal limitation to ± 32767 • The most significant bit determines the sign!
bEqual
bClkDown
wLdVal
bLoad
wCmpVal
C01100
?L_Counter_
CNT
bClkUp wOut
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8400 HighLine C | Software ManualFunction library
Function blocks | L_Counter
Parameter
Function
| Counter content | ≥ | wCmpVal |, – The bEqual output is set to TRUE.
– During the next clock cycle, the counter is reset to the wLdVal value and the bEqual output is set to FALSE.
| Counter content | = | wCmpVal |– The counter stops.
– Edges at bClkUp and bClkDown are ignored.
if bLoad = TRUE
– The counter is set to the wLdVal value.
– Edges at bClkUp and bClkDown are not ignored anymore.
Parameter Possible settings Information
C01100/1 (L_Counter_1)C01100/2 (L_Counter_2)C01100/3 (L_Counter_3)
Function selection
0 No function
1 AutoReset
2 Manual reset
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DFlipFlop
520 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.15 L_DFlipFlop
The function mode of the module as described in section Function of the D-FlipFlop ( 521).
Additional, inverted output
Inputs
Outputs
Function blocks: L_DFlipFlop_1 L_DFlipFlop_2
Runtime: 1 μs 3 μs
IdentifierData type
Information/possible settings
bDBOOL
Data input
bClkBOOL
Clock input • Only FALSE/TRUE edges are evaluated
bClrBOOL
Reset input
True • The bOut output is set to FALSE. • The bNegOut output is set to TRUE.
IdentifierData type
Value/meaning
bOutBOOL
Output signal
bNegOutBOOL
Output signal, inverted
bNegOut
bOutbD
bClk
bClr
?L_DFlipFlop_
C1
Q
Q
1D
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8400 HighLine C | Software ManualFunction library
Function blocks | L_DFlipFlop
Function of the D-FlipFlop
If input Clr = FALSE:
A signal edge at the bClk input serves to apply the static input signal bD to the output bOutand kept there:
If the input Clr = TRUE:
Due to the priority bClr > bClk, bD the bOut output signal can be set any time to the FALSEstate by the input signal Clr = TRUE.
The output signal is kept in this state independent of the other input signals.
TRUE
TRUE
FALSE
FALSE
bClk
bOut
t
TRUE
FALSE
bD
t
t
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DigitalDelay
522 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.16 L_DigitalDelay
This FB delays binary signals.
ON and OFF delay can be parameterised separately.
Inputs
Outputs
Parameter
Function blocks: L_DigitalDelay_1 L_DigitalDelay_2 L_DigitalDelay_3
Runtime: 2 μs
IdentifierData type
Information/possible settings
bInBOOL
Input signal
IdentifierData type
Value/meaning
bOutBOOL
Output signal (time-delayed input signal)
Parameter Possible settings Information
C00720/1 (L_DigitalDelay_1)C00721/1 (L_DigitalDelay_2)C00721/3 (L_DigitalDelay_3)
0.000 s 3600.000 ON delay • Lenze setting: 0.000 s
C00720/2 (L_DigitalDelay_1)C00721/2 (L_DigitalDelay_2)C00721/4 (L_DigitalDelay_3)
0.000 s 3600.000 OFF delay • Lenze setting: 0.000 s
bOut
?L_DigitalDelay_
0 t
bIn
DelayTime
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8400 HighLine C | Software ManualFunction library
Function blocks | L_DigitalDelay
Functional sequence
1. A FALSE-TRUE edge at bIn resets the internal timer () for the ON delay and starts it.
2. Âfter the defined ON delay, the input signal bIn is output at bOut.
3. A TRUE-FALSE edge at bIn resets the internal timer () for the OFF delay and starts it.
4. After the defined OFF delay, the input signal bIn is output at bOut.
= internal timing element
TRUE
FALSE
bOut
t
TRUE
FALSE
bIn
t
wDelayTime wDelayTime
wDelayTime
t
�
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DigitalLogic
524 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.17 L_DigitalLogic
This FB provides a binary output signal which is generated by the logic combination of theinput signals. It is also possible to define a constant binary value that is independent of theinput signals.
Definition of a constant binary value
Logical ANDing of the inputs
Logical ORing of the inputs
Output depending on the combination of the input signals
Inputs
Outputs
Function blocks: L_DigitalLogic_1 L_DigitalLogic_2
Runtime: 2 μs
IdentifierData type
Information/possible settings
bIn1BOOL
Input signal 1
bIn2BOOL
Input signal 2
bIn3BOOL
Input signal 3
IdentifierData type
Value/meaning
bOutBOOL
Output signal
L_DigitalLogic_ ?
C00821C00823
bIn2
bIn1
bIn3
&
01
>1
01
02 3
0 1
...
0 0 1 2
1
0
1
1
1 8
0 3...
2
3
4
bln
C00820C00822
0
1bOut
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8400 HighLine C | Software ManualFunction library
Function blocks | L_DigitalLogic
Parameter
Truth table for C00820 = 4 / C00822 = 4
Example
If for the signal combination bln1 = FALSE, bln2 = FALSE and bln3 = TRUE the output signalbOut shall be TRUE, for this function subcode 5 of the parameter C00821 (L_DigitalLogic_1)/ C00823 (L_DigitalLogic_2) must be set to "TRUE":
Parameter Possible settings Information
C00820 (L_DigitalLogic_1)C00822 (L_DigitalLogic_2)
Function selection
0 "0" Constant value "FALSE"
1 "1" Constant value "TRUE"
2 AND operation
3 OR operation
4 bOut = f (truth table) The output value depends on the parameterised truth table
C00821 (L_DigitalLogic_1)C00823 (L_DigitalLogic_2)
See truth table Truth tableEach of the eight output values can be assigned to a binary value.
Subcode ofC00821 (L_DigitalLogic_1)C00823 (L_DigitalLogic_2)
bIn3 bIn2 bIn1 Output signalbOut
1 False False False FALSE / TRUE
2 False False True FALSE / TRUE
3 False True False FALSE / TRUE
4 False True True FALSE / TRUE
5 True False False FALSE / TRUE
6 True False True FALSE / TRUE
7 True True False FALSE / TRUE
8 True True True FALSE / TRUE
Subcode ofC00821 (L_DigitalLogic_1)C00823 (L_DigitalLogic_2)
bIn3 bIn2 bIn1 Output signalbOut
5 True False False True
bOut bIn1 bIn2 bIn3∧ ∧=
bOut bIn1 bIn2 bIn3∨ ∨=
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DigitalLogic5
526 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.18 L_DigitalLogic5
This FB provides a binary output signal which is generated by the logic combination of theinput signals. It is also possible to define a constant binary value that is independent of theinput signals.
Definition of a constant binary value
Output depending on the combination of the input signals
Inputs
Outputs
Parameter
Function blocks: L_DigitalLogic5_1 L_DigitalLogic5_2
Runtime: 2 μs
IdentifierData type
Information/possible settings
bIn1BOOL
...
bIn5BOOL
Input signal 1 ... 5
IdentifierData type
Value/meaning
bOutBOOL
Output signal
Parameter Possible settings Information
C00824 (L_DigitalLogic5_1)C00826 (L_DigitalLogic5_2)
Function selection
0 "0" Constant value "FALSE"
1 "1" Constant value "TRUE"
2 bOut = f (truth table) The output value depends on the parameterised truth table
C00825 (L_DigitalLogic5_1)C00827 (L_DigitalLogic5_2)
See truth table Truth tableEach of the eight output values can be assigned to a binary value.
L_DigitalLogic5_ ?
C00825C00827
bIn3bIn2bIn1
bIn5bIn4
01
11 11 1 32
......
2
C00824C00826
0
1bOut
0031
0042 5
0 100 00 1 200 10 0 3
bln
...
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8400 HighLine C | Software ManualFunction library
Function blocks | L_DigitalLogic5
Truth table for C00824 = 4 / C00826 = 4
Example
If for the signal combination bln1 = TRUE, bln2 = FALSE, bln3 = TRUE, bIn4 = TRUE and bIn5= TRUE the output signal bOut shall be TRUE, for this function subcode "30" of theparameter C00825 (L_DigitalLogic5_1) / C00827 (L_DigitalLogic5_2) must be set to"TRUE":
Subcode ofC00825 (L_DigitalLogic5_1)C00827 (L_DigitalLogic5_2)
bIn5 bIn4 bIn3 bIn2 bIn1 Output signalbOut
1 False False False False False FALSE / TRUE
2 False False False False True FALSE / TRUE
3 False False False True False FALSE / TRUE
... FALSE / TRUE
30 True True True False True FALSE / TRUE
31 True True True True False FALSE / TRUE
32 True True True True True FALSE / TRUE
Subcode ofC00825 (L_DigitalLogic5_1)C00827 (L_DigitalLogic5_2)
bIn5 bIn4 bIn3 bIn2 bIn1 Output signalbOut
30 True True True False True True
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DT1
528 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.19 L_DT1
This FB differentiates signals. The function block can, for instance, be used to apply anacceleration (dv/dt).
Inputs
Outputs
Parameter
Function blocks: L_DT1_1
Runtime: 3 μs
IdentifierData type
Information/possible settings
nIn_aINT
Input signal
IdentifierData type
Value/meaning
nOut_aINT
Output signal
Parameter Possible settings Information
C00251 10 ms 5000 Time constant Tn • Lenze setting: 1000 ms
C00252 -320.00 320.00 Gain factor Vp • Lenze setting: 1.00
C00253Note: The most significant bit determines the sign of the value, the remaining bits determine the numerical value.
Selection of sensitivity • Depending on the selection, the
number of more significant bits is evaluated.
• Lenze setting: 15 bit
1 15 Bit Bit 0 ... bit 14 are evaluated
2 14 Bit Bit 0 ... bit 13 are evaluated
3 13 Bit Bit 0 ... bit 12 are evaluated
4 12 Bit Bit 0 ... bit 11 are evaluated
5 11 Bit Bit 0 ... bit 10 are evaluated
6 10 Bit Bit 0 ... bit 9 are evaluated
7 9 Bit Bit 0 ... bit 8 are evaluated
nOut_anIn_a
C00251 C00252�32767
C00253
L_DT1_ ?
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8400 HighLine C | Software ManualFunction library
Function blocks | L_Limit
16.1.20 L_Limit
This FB limits scaled analog input signals to a value range the upper and lower limit ofwhich can be set via parameters.
Inputs
Outputs
Parameter
Tip!
Always set the lower limit lower than the upper limit, otherwise value "0" is provided at the nOut_a output.
Function blocks: L_Limit_1 L_Limit_2
Runtime: 3 μs
IdentifierData type
Information/possible settings
nIn_aINT
Input signal • Scaling: 16384 ≡ 100 %
IdentifierData type
Value/meaning
nOut_aINT
Output signal • Scaling: 16384 ≡ 100 %
Parameter Possible settings Information
C00630/1 (L_Limit_1)C00630/3 (L_Limit_2)
-199.99 % 199.99 Upper limit • Lenze setting: 100.00 %
C00630/2 (L_Limit_1)C00630/4 (L_Limit_2)
-199.99 % 199.99 Lower limit • Lenze setting: -100.00 %
nOut_anIn_a
nMaxLimit
nMinLimit
L_LIM_ ?
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MckCtrlInterface
530 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.21 L_MckCtrlInterface
This FB serves to control the LS_MotionControlKernel system block.
The FB L_MckCtrlInterface is connected upstream of the LS_MotionControlKernel system block (see Fig. [16-15] ). Its two control word outputs provide the input information for the system block.
The control can be performed using
– directly selected control words, e.g. via a co-ordinating control also connected to the fieldbus. For this purpose, the control word inputs can be connected directly with the fieldbus interface LP_MciIn or LP_CanIn.
– individually selected bit signals, which are ORed with the control word.
[16-15] Detail of the interconnection architecture for the "table positioning" technology application
The input signals are ORed and written to the output of the FB after a plausibility check has been executed. The result of the plausibility check is provided by the output word wFailState (status of the output word: C01299 ).
In the event of implausibility, the current state of the control word outputs remains unchanged. The input data causing this result are ignored and the output bFail is set to TRUE.
Check of
– the profile numbers 1 ... 15, otherwise invalid ProfilNo
– the operation modes 0 ... 3, otherwise invalid OpMode
Function blocks: L_MckCtrlInterface_1
Runtime: 5 μs
LS_MotionControlKernel
bPosCtrlOn bPosCtrlOnbDeltaPosOn bDeltaPosOn
dnDeltaPos_p dnDeltaPos_pdnPosSetValue_p dnPosSetValue_pbPosDerivativeOn bPosDerivativeOn
bMotorRefOffsetOn bMotorRefOffsetOndnMotorRefOffset_p dnMotorRefOffset_p
bQspOn bQspOnnPWMAngleOffset_a nPWMAngleOffset_a
bSpeedCtrllOn bSpeedCtrllOnnSpeedCtrlI_a nSpeedCtrlI_a
nSpeedSetValue_a nSpeedSetValue_abTorquemodeOn bTorquemodeOn
nTorqueSetValue_a nTorqueSetValue_abDcBrakeOn bDcBrakeOn
wMotionCtrl_1 wMotionCtrl_1
L_MckCtrlInterface
wOutMckPosCtrl_1
wOutMckPosCtrl_2
wInMckPosCtrl_1
wMotionCtrl_2 wMotionCtrl_2
LS_MotorInterface
L_MckStateInterface
wInMckPosState_1
wInMckPosState_2
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Function blocks | L_MckCtrlInterface
L_MckCtrlInterface ?
wOutMckPosCtrl_1
wOutMckPosCtrl_2
wFailState
bFail
bManJogPos
bManJogNeg
bManJogExecute2ndVel
bReleaseLimitSwitch
bHomingStartStop
bHomingSetPos
bHomingResetPos
bEnableValOverride
bEnableAccOverride
bDisableSShaping
bPosTeachSetPos
bPosTeachActPos
bPosExecute
bProfileNo_1
bOperationMode_1
bProfileNo_2
b _2OperationMode
bProfileNo_4
b _4OperationMode
bProfileNo_
bOperationMode_8
bPosExecuteFinish
bPosDisableFollowProfile
bPosStop
wPosMode
wProfileNo
?1
11
1
wInMckPosCtrl_1
wInMckPosCtrl_2
wOperationMode
x
?
?
8
1
1
?
?
015
015
015
015
015
015
015
15 2 01
C01299
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MckCtrlInterface
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Inputs
IdentifierData type
Information/possible settings
wInMckPosCtrl_1wInMckPosCtrl_2
WORD
See description of the MCK control words
wOperationModeWORD
Selection of the operating mode of the MotionControlKernel system block.
bManJogPosbManJogNeg
BOOL
bManJogPos = TRUE: manual jog rightbManJogNeg = TRUE: manual jog leftbManJogPos AND bManJogNeg = TRUE: no change to the previous statebManJogPos AND bManJogNeg = FALSE: stop manual jog
bManJogExecute2ndVelBOOL
True Start of the second manual speed
bReleaseLimitSwitchBOOL
Retracting from the activated hardware limit switch in opposite direction
bHomingStartStopBOOL
Homing: Start / Stop of the homing process
bHomingSetPosBOOL
Homing: Setting of the home position
bHomingResetPosBOOL
Homing: Resetting of the home position
bEnableVelOverrideBOOL
True Activation - speed override
bEnableAccOverrideBOOL
True Activation - acceleration override
bDisableSShapingBOOL
True Deactivation - profile rounding
bPosExecuteBOOL
FALSE TRUE Edge starts a new traversing task
bPosExecuteFinishBOOL
FALSE TRUE Complete interrupted profile
bPosDisableFollowProfileBOOL
True Do not travel sequence profile
bPosStopBOOL
True Cancel the current profile
wPosModeWORD
Positioning mode (bit 0 ... bit 3)
bPosTeachSetPosBOOL
Latching a position at MCK into the profile with the corresponding profile number
bPosTeachActPosBOOL
Latching the current position into the profile with the corresponding profile number
wProfileNoWORD
Profile number
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8400 HighLine C | Software ManualFunction library
Function blocks | L_MckCtrlInterface
Outputs
Parameter
IdentifierData type
Value/meaning
wOutMckPosCtrl_1wOutMckPosCtrl_2
WORD
See description of the MCK control words
wFailStateWORD
Result of plausibility check, see C01299
Bit 0 Operation mode
Bit 1 Positioning mode
Bit 2 Profile number
bFailBOOL
TRUE: • Plausibility check error or • control information error (in this case after ORing the individual
signals with the control words)
Parameter Possible settings Information
C01299 Value is bit-coded: Display of error status
Bit 0 InvalidOperationMode Invalid operating mode selection • "1" ≡ The selected operating mode
is not defined/invalid.
Bit 1 InvalidPosMode Invalid positioning mode selection • "1" ≡ The selected positioning
mode is not defined/invalid.
Bit 2 InvalidProfileNo Invalid profile number selection • "1" ≡ The selected profile number
refers to a profile data set that does not exist.
Bit 3 Reserved
...
Bit 7
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MckCtrlInterface
534 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Description of the additional functions
In addition to ORing the discrete input signals with the control word inputs, this functionblock provides the following functions:
Assignment of the LS_MotionControlKernel system block operating modes for a maximum of four positioning profiles, see C01298The following operating modes are available
– 0: no change, the operating mode set by other means is valid
– 1: Speed follower operation
– 2: Homing
– 3: Manual JOG
– 4: Positioning
Switching on/off of "Pos-Start-Stop" with one control bit ("Pos-Execute"), see C01297If positioning is set as the MCK operating mode and the function is activated, the "Pos-Execute" control bit has the following effect:
Switching on/off of "Homing-Start-Stop" with one control bit ("Pos-Execute"), see C01297If positioning is set as the MCK operating mode and the function is activated, the "Pos-Execute" control bit has the following effect:
Signals at the input Signals in the control word to the MCK
bPosExecute = TRUE bPosExecute = TRUEbPosStop = FALSEbHomingStartStop remains unchanged
bPosExecute = FALSE bPosExecute = FALSEbPosStop = TRUEbHomingStartStop remains unchanged
Signals at the input Signals in the control word to the MCK
bPosExecute = TRUE bPosExecute = TRUEbPosStop = FALSEbHomingStartStop = TRUE
bPosExecute = FALSE bPosExecute = FALSEbPosStop remains unchangedbHomingStartStop = FALSE
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8400 HighLine C | Software ManualFunction library
Function blocks | L_MckStateInterface
16.1.22 L_MckStateInterface
This FB provides information about the status signalling of the LS_MotionControlKernelsystem block.
Inputs
Outputs
Function blocks: L_MckStateInterface_1
Runtime: 5 μs
IdentifierData type
Information/possible settings
wInMckPosState_1wInMckPosState_2
WORD
Inputs for accepting the status words from the SB LS_MotorControlKernel.
IdentifierData type
Value/meaning
wOperationModeWORD
Active setpoint-generating state of the SB LS_MotorControlKernel.The bits from B0 ... B3 are described.
wActProfileNoWORD
Current traversing profile numberThe bits from B0 ... B7 are described.
wActPosModeWORD
Current positioning modeThe bits from B0 ... B3 are described.
bAcceleratingBOOL
True Acceleration phase is active
bDeceleratingBOOL
True Braking phase is active
L_MckStateInterface ?
wInMckPosState_1
wInMckPosState_2
0
0
15
15
15
0
0
15
15
bBusy
bDone
bHomingPosAvailable
bHomingDone
bDwellTime
bInTarget
bPosDone
bAccelerating
wOperationMode
wActProfileNo
wActPosMode
bDelcelerating
bConstantSpeedDuty
bSShaping
0
0
0
1
1
1
2
2
2
3
34567
3
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MckStateInterface
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bConstantSpeedDutyBOOL
True Constant phase is active
bSShapingBOOL
True Profile rounding is active
bBusyBOOL
True Setpoint generation is active
bDoneBOOL
True Target position setpoint is approached
bHomingPosAvailableBOOL
True Home position is known.
bHomingDoneBOOL
True Homing process has been executed
bDwellTimeBOOL
True Settling in target position is active
bInTargetBOOL
True Actual target position value is in the target window
bPosDoneBOOL
True Profile target position has been approached
IdentifierData type
Value/meaning
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8400 HighLine C | Software ManualFunction library
Function blocks | L_MPot
16.1.23 L_MPot
This FB replaces a hardware motor potentiometer and can be used as an alternativesetpoint source which is controlled via two inputs.
The signal is output via a ramp function generator with linear ramps.
The acceleration and deceleration times are set via parameters.
Constant ramping even with speed limit values changed online.
The motor potentiometer function can be switched on/off online.
Inputs
Function blocks: L_MPot_1
Runtime: 10 μs
IdentifierData type
Information/possible settings
bEnableBOOL
Switch over motor potentiometer functionbEnable input and C00806 code are ORed.
True Motor potentiometer function is active, setpoint can be changed via bUp and bDown. • With switching to TRUE, the value applied to nIn_a is
automatically transferred to the motor potentiometer.
False The value applied to nIn_a is output at nOut_a.
nln_aINT
When bEnable = FALSE, the analog input signal nIn_ is switched to the nOut_a output.
bUpBOOL
Approaching of the upper speed limit value set in C00800.
True The nOut_a output signal runs to its upper limit value (nHighLimit). • If the bDown input is simultaneously set to TRUE, the nOut_a
output signal is not changed.
bDownBOOL
Approaching of the lower speed limit value set in C00801.
True The nOut_a output signal runs to its lower limit value (nLowLimit). • If the bUp input is simultaneously set to TRUE, the nOut_a output
signal is not changed.
bInActBOOL
Deactivate motor potentiometer function • This input has the highest priority. • When the motor potentiometer is deactivated, the nOut_a output signal follows
the function set with code C00804.
True Motor potentiometer function is deactivated.
L_MPot_1
nOut_a
bUp
bDown
bInAct
?
0
1
C00806
nln_a
bEnable
C00804C00805 C00802
C00800
C00803C00801
CTRL
retaindata
1
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MPot
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Outputs
Parameter
IdentifierData type
Value/meaning
nOut_aINT
Output signal
Parameter Possible settings Information
C00800 -199.99 % 199.99 Upper limit • Lenze setting: 100.00 %
C00801 -199.99 % 199.99 Lower limit • Lenze setting: -100.00 %
C00802 0.1 s 6000.0 Acceleration time • Lenze setting: 10.0 s
C00803 0.1 s 6000.0 Deceleration time • Lenze setting: 10.0 s
C00804 Inactive function • Selection of response when
deactivating the motor potentiometer via the input bInAct.
• Lenze setting: 0
0 No further action; nOut_a retains its value.
1 The motor potentiometer returns to 0 % within the deceleration time Tif
2 The motor potentiometer runs to the lower limit value (C00801) within the deceleration time Tif
3 The motor potentiometer output immediately changes to 0 %
Important for the emergency stop function
4 The motor potentiometer output immediately changes to the lower limit value (C00801)
5 The motor potentiometer runs to the upper limit value (C00800) within the acceleration time Tir
C00805 Init function • Selection of response when
switching on the device. • Lenze setting: 0
0 The output value being output during mains power-off is saved non-volatilely in the internal memory of the controller. It will be reloaded during mains power-on.
1 The lower limit value (C00801) is loaded during mains power-on.
2 An output value = 0 % is loaded during mains power-on.
C00806 Use of the motor potentiometer • When switching to 1: YES, the
value applied to nIn_a is automatically transferred to the motor potentiometer.
• Lenze setting: 0
0 No
1 Yes
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Function blocks | L_MPot
16.1.23.1 Activation & control of motor potentiometer
When bInAct is set to FALSE, the motor potentiometer is activated.
The currently active function depends on the current output signal nOut_a, the limit values set and the control signals at bUp and bDown.
When the nOut_a output signal is outside the limits set, the output signal runs to the next limit with the Ti times set. This process is independent of the control signals at bUp and bDown.
When the nOut_a output signal is inside the limits set, the output signal changes according to the control signals at bUp and bDown.
[16-16] Example: Control of the motor potentiometer
nOut_a
t
t
TRUE
FALSE
bUp
t
TRUE
FALSE
bDown
nHighLimit
nLowLimit
0
wTir
wTir
wTif
wTir
bUp bDown bInact Function
False False False The nOut_a output signal remains unchanged.
True False The nOut_a output signal runs to its upper limit value (nHighLimit).
False True The nOut_a output signal runs to its lower limit value (nLowLimit).
True True The nOut_a output signal remains unchanged.
- - True The motor potentiometer function is deactivated. The nOut_a output signal responds according to the function selected via Function.
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MPot
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16.1.23.2 Deactivation of motor potentiometer
When the motor potentiometer is deactivated by setting bInAct to TRUE, the nOut_aoutput signal responds according to the function selected via Function.
[16-17] Example: Deactivation of the motor potentiometer when the Function = 1 has been selected
When the motor potentiometer is deactivated, nOut_a is reduced to 0 % with the deceleration time wTif. If it is activated again, nOut_a is increased again to nLowLimit with the acceleration time wTir.
nOut_a
t
t
TRUE
FALSE
bUp
t
TRUE
FALSE
bDown
nHighLimit
nLowLimit
0
wTir
wTif
wTir
t
TRUE
FALSE
bInAct
wTif
wTif� �
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8400 HighLine C | Software ManualFunction library
Function blocks | L_MulDiv
16.1.24 L_MulDiv
This FB multiplies the analog input signal with a factor.
The value of the factor is determined by a quotient consisting of numerator and denominator .
The value output at nOut_a is limited to ± 199.99 %.
Inputs
Outputs
Parameter
Function blocks: L_MulDiv_1 L_MulDiv_2
Runtime: 4 μs
IdentifierData type
Information/possible settings
nIn1INT
Input signal
IdentifierData type
Value/meaning
nOut_aINT
Product value (result of the multiplication) • Internal limitation to ± 32767
Parameter Possible settings Information
C00699/1 (L_MulDiv_1)C00679/1 (L_MulDiv_2)
Counter
C00699/2 (L_MulDiv_1)C00679/2 (L_MulDiv_2)
Denominator
L_MulDiv_ ?
nIn_a nOut_a+/- 199,99%
��
nOut_a nIn_a0----×=
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Mux
542 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.25 L_Mux
This FB provides one of the eight input signals dnIn1_p ... dnIn8_p at the output dnOut_p.The selection is made through the signal at the input wInSelect.
Inputs
Outputs
Function blocks: L_Mux_1
Runtime: 3 μs
IdentifierData type
Information/possible settings
wInSelectWORD
Input signal
1...8 • The values "1" ... "8" select the input signal to be applied to the output.
• Values from"1" ... "8" set the dnOut_p output to "0".
dnIn1_pDINT
...dnIn8_p
DINT
Input signal
IdentifierData type
Value/meaning
dnOut_pDINT
Output signal
?L_MUX_
wInSelect
dnIn1_p
dnIn2_p
dnIn3_p
dnIn4_p
dnIn5_p
dnIn6_p
dnIn7_p
dnOut_p
1...8
2
3
4
5
6
7
8
1
dnIn8_p
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8400 HighLine C | Software ManualFunction library
Function blocks | L_Negation
16.1.26 L_Negation
This FB converts the sign of the input signal, i.e. the input signal is multiplied by the value-1 and is then output.
With the value - 32768 at the nIn_a input, the value + 32767 is provided at the nOut_a output.
Inputs
Outputs
Function blocks: L_Negation_1 L_Negation_2
Runtime: 2 μs
IdentifierData type
Value/meaning
nIn_aINT
Input signal
IdentifierData type
Value/meaning
nOut_aINT
Output signal
nOut_anIn_a
L_Nagation_ ?
x (-1)
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Not
544 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.27 L_Not
This FB negates a signal of BOOL data type.
Inputs
Outputs
Function
Function blocks: L_Not_1 L_Not_2 L_Not_3 L_Not_4 L_Not_5 L_Not_6 L_Not_7
Runtime: 2 μs
IdentifierData type
Value/meaning
bInBOOL
Input signal
IdentifierData type
Value/meaning
bOutBOOL
Result of the NOT operation
bIn bOut
False True
True False
bOutbIn
L_Not_ ?
1
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8400 HighLine C | Software ManualFunction library
Function blocks | L_NSet
16.1.28 L_NSet
This FB is used for general signal processing of process values and is provided with thefollowing functions:
– With linear ramps for main and additional setpoint path
– With S-shaped ramp (PT1 rounding)
– Setting and holding
Internal limitation of the input signal
3 adjustable blocking zones
Arithmetic function
15 fixed setpoints (JOG setpoints)
15 acceleration and deceleration times
Inputs
Function blocks: L_NSet_1
Runtime: 50 μs
IdentifierData type
Information/possible settings
nCInhVal_aINT
Main setpoint signal which is to be accepted by the main setpoint integrator when the controller is inhibited.
bRfgStopBOOL
Holding (freezing) of the current value of the main setpoint integrator
True The current value of the main setpoint integrator is held.
bRfg0BOOL
Leading the main setpoint integrator to 0 within the current Ti times
True The current value of the main setpoint integrator is led to "0" within the Ti time set.
adnTi (0)
adnTi (15)
DMUX
DMUX
nCInhVal_a
bRfgStop
bRfg0
bNSetInv
nNSet_a
bJog2
bJog4
bJog8
bTI1
bTI2
bTI4
bTI8
nSet_a
bLoad
bNAddInv
nNAdd_a
CINH
JOG 0...15
TI 0...15
bJog1
bExternalCINH
L_NSet
1
0
3
015
0
3
015
+
/ x/(1-y)
- *
anJogSetValue(0)
....(15)
1
C00134C00182 C00190
bRfgIEq0
�32767
C00142
C00635C00636
C00220C00221
C00012C00013
wState
nSetValue_a
nNOut_a
?
C00632C00633
....(1)
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Outputs
bNSetInvBOOL
Signal inversion for the main setpoint
True Main setpoint signal is inverted.
nNset_aINT
Main setpoint signal • Other signals are also permitted
bJog1 ... bJog8BOOL
Selection inputs for fixed change-over setpoints (JOG setpoints) for the main setpoint • Selection inputs are binary coded.
bTI1 ... bTI8BOOL
Selection inputs for alternative acceleration/deceleration times for the main setpoint • Selection inputs are binary coded.
nSet_aINT
Starting value which is loaded into the main setpoint integrator by setting bLoad to TRUE.
bLoadBOOL
Control of both ramp function generators in special situations, e.g. QSP
True The nSet_a input signal is loaded into the main setpoint integrator and the additional setpoint integrator is set to "0".
bAddInvBOOL
Signal inversion for the additional setpoint
True Additional setpoint signal is inverted.
nNAdd_aINT
Additional setpoint signal • Other signals are also permitted
bExternalCINHBOOL
Additional load input for the main setpoint integrator and the additional setpoint integrator
True The main setpoint integrator is set to the value applied at nCInhVal_a.The additional setpoint integrator is set to "0".
Application example for the additional load function ( 554)
IdentifierData type
Value/meaning
nNOut_aINT
Speed setpoint output signal • 16384 ≡ 100 %
bRfgIEqOBOOL
Status signal "setpoint = 0"
wStateWORD
Bit-coded status word • Bits that are not listed are reserved for future extensions.
Bit 0 No blocking zone active
Bit 1 Blocking zone 1 active
Bit 2 Blocking zone 2 active
Bit 3 Blocking zone 3 active
Bit 4 Jog in blocking zone
Bit 5 MaxLimit active
Bit 6 MinLimit active
nSetValue_aINT
The speed setpoint has reached the target value. • 16384 ≡ 100 %
IdentifierData type
Information/possible settings
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Function blocks | L_NSet
Parameter
Parameter Possible settings Information
C00012 0.000 s 999.900 Acceleration time Tir for the main setpoint • Lenze setting: 0.000 s
C00013 0.000 s 999.900 Deceleration time Tif for the main setpoint • Lenze setting: 0.000 s
C00039/1..15 -199.99 % 199.99 Fixed setpoints (JOG setpoints) • Lenze setting: 0.00 %
C00101/1..15 0.000 s 999.900 Alternative acceleration times (Tir) for the main setpoint • Lenze setting: 0.000 s
C00103/1..15 0.000 s 999.900 Alternative deceleration times (Tif) for the main setpoint • Lenze setting: 0.000 s
C00134 Activates ramp rounding with PT1 behaviour for the main setpoint • The S-ramp time is set under
C00182. • Lenze setting: 0 (deactivated)
0 Off
1 PT1 behaviour
C00182 0.01 s 50.00 S-ramp time PT1 • Lenze setting: 20.00 s
C00190
nNout_a =
Selection of the arithmetic function for combining main and additional setpoint • Lenze setting: 0
0 X y is not processed
1 x + y
2 x - y
3 x * y
4 x / |y|
5 x / (100 % - y)
C00220 0.000 s 999.900 Acceleration time Tir for the additional setpoint • Lenze setting: 0.000 s
C00221 0.000 s 999.900 Deceleration time Tif for the additional setpoint • Lenze setting: 0.000 s
C00241 0.00 % 100.00 Hysteresis window for zero detection of speed output setpoint (output bRfgIEqO) • Lenze setting: 0.50 %
C00632/1...3 0.00 % 199.99 Maximum limit values for the speed blocking zones • Selection of the maximum limit
values for the blocking zones in which the speed must not be constant.
• Lenze setting: 0.00 %
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_NSet
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16.1.28.1 Main setpoint path
The signals in the main setpoint path are limited to a value range of ±32767.
The signal at nNSet_a is first led via the JOG selection function.
A selected JOG value switches the nNSet_a input inactive. Then, the subsequent signal conditioning operates with the JOG value.
C00633/1...3 0.00 % 199.99 Minimum limit values for the speed blocking zones • Selection of the minimum limit
values for the blocking zones in which the speed must not be constant.
• Lenze setting: 0.00 %
C00634 Status (bit-coded) • Bits that are not listed are
reserved for future extensions.Bit 0 No blocking zone active
Bit 1 Blocking zone 1 active
Bit 2 Blocking zone 2 active
Bit 3 Blocking zone 3 active
Bit 4 Jog in blocking zone
Bit 5 MaxLimit active
Bit 6 MinLimit active
C00635 -199.99 % 199.99 nMaxLimit • Maximum speed setpoint for
speed setpoint limitation • Lenze setting: 199.99 %
C00636 -199.99 % 199.99 nMinLimit • Minimum speed setpoint for
speed setpoint limitation • Lenze setting: -199.99 %
Parameter Possible settings Information
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8400 HighLine C | Software ManualFunction library
Function blocks | L_NSet
16.1.28.2 JOG setpoints
In addition to the direct main setpoint selection via the input nNSet_a, so-called JOGsetpoints can be set under C00039/1...15.
The JOG setpoints are binary-coded and can be called using the bJog1 ... bJog8 selection inputs so that 15 options are available:
The number of selection inputs to be assigned depends on the number of JOG setpoints required:
16.1.28.3 Setpoint inversion
The output signal of the JOG function is led via an inverter.
The sign of the setpoint changes if bNSetInv is set to TRUE.
16.1.28.4 Value range of the input signal
The value range of the input signal can be limited by using the following parameters:
C00635: MaxLimit (default setting: +199.99 %)
C00636: MinLimit (default setting: -199.99 %)
Selection inputs Main setpointusedbJog8 bJog4 bJog2 bJog1
False False False False nNset_a
False False False True C00039/1
False False True False C00039/2
False False True True C00039/3
False True False False C00039/4
False True False True C00039/5
False True True False C00039/6
False True True True C00039/7
True False False False C00039/8
True False False True C00039/9
True False True False C00039/10
True False True True C00039/11
True True False False C00039/12
True True False True C00039/13
True True True False C00039/14
True True True True C00039/15
Number of JOG setpoints required Number of selection inputs to be assigned (bJog1 ... bJog8)
1 At least 1
2...3 At least 2
4...7 At least 3
8...15 4
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_NSet
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16.1.28.5 Skip frequency function
With speed-variable drives and linearly increasing speed setpoints, the frequency or speedrange is passed through in equal time segments. During the acceleration phase, speedsegments may exist which must be bridged quickly (e.g. bridging of self-resonantfrequency). The skip frequency function serves to mark a zone in which the speed is kept tothe start level. If the speed setpoint leaves this zone, the drive will be accelerated to thefinal level.
Definition of the blocking zones
The subcodes of codes C00632 and C00633 can be used to define three zones which are tobe skipped by the output setpoint and which are to be passed as fast as possible by theramp function generator:
C00632/1 ... 3: Maximum values of the zones [1 ... 3]
C00633/1 ... 3: Minimum values of the zones [1 ... 3]
The entry of identical limit values deactivates a blocking zone.
Overlapping of blocking zones
If blocking zones overlap, the lowest and highest value of the overlapping zones form anew zone.
In this case, the status display (output wState or display parameter C00634) only indicatesone zone (the lower of the two original zones).
Abutting blocking zones
If two blocking zones abut (e.g. 20 ... 30 % and 30 ... 40 %), the limit value between the twozones (in this example 30 %) is also passed through.
The same applies to a limit range of 0 ... xx %. During zero crossing of the speed setpoint,"0" speed is output as setpoint. It is possible to exclude "0" speed. However, in this case, theoutput speed will remain on the upper limit value when the input setpoint becomes "0".
Note!
• Skip frequencies only affect main setpoints.
• It is not possible to exclude "0" speed if there is a sign reversal of the speed setpoint.
�
nNnN
MNMN
MM
nn
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8400 HighLine C | Software ManualFunction library
Function blocks | L_NSet
Tip!
As described above, the acceleration phase starts after the blocking zones havebeen passed through. The ramp function generator integrated in the L_Nsetfunction block limits the progression of the speed. For this reason, the time valuesset for the integrated ramp function generator should be as low as possiblewhereas the setpoint for the L_NSet function block should be generated by a rampfunction generator with higher time values (e.g. L_MPot function block).
16.1.28.6 Ramp function generator for the main setpoint
The setpoint is now led via a ramp function generator with linear characteristic. The rampfunction generator converts setpoint step-changes at the input into a ramp.
[16-18] Acceleration and deceleration times
tir and tif are the desired times for changing between w1 and w2.
S-ramps are possible by selecting S-ramp times.
The tir/tif values are converted into the required Ti times according to the following formula:
Setting and selection of Ti times
Via parameters, you can select 16 different Tir and Tif times each for the ramp generator.
The selection is made via the binary coded selection inputs bTI1 ... bTI8:
w1, w2 = change of the main setpoint as a function of tir and tifRFG-OUT = output of the ramp function generator
RFG-OUT
100 %
w2
w1
t0 %
t ir t ir
Tir Tir
Selection inputs usedAcceleration time
usedDeceleration time
bTI8 bTI4 bTI2 bTI1
False False False False C00012 C00013
False False False True C00101/1 C00103/1
False False True False C00101/2 C00103/2
False False True True C00101/3 C00103/3
False True False False C00101/4 C00103/4
False True False True C00101/5 C00103/5
Tir tir100 %
w2 w1–----------------------⋅= Tif tif
100 %w2 w1–----------------------⋅=
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Function
When the controller is inhibited (CINH), the ramp function generator accepts the value applied at nCInhVal_a and transfers it to the downstream function. This function has priority over all other functions.
bRfgStop = TRUE
– The ramp function generator is stopped. Changes at the input of the ramp function generator have no effect on the output signal.
bRfg0 = TRUE
– The ramp function generator runs to 0 along its deceleration ramp.
Furthermore it is possible to load the ramp function generator online with a defined value. For this purpose, bLoad must be set to TRUE. As long as this input is set, the value at nSet_a is transferred to the ramp function generator and provided at the output.
Priorities:
False True True False C00101/6 C00103/6
False True True True C00101/7 C00103/7
True False False False C00101/8 C00103/8
True False False True C00101/9 C00103/9
True False True False C00101/10 C00103/10
True False True True C00101/11 C00103/11
True True False False C00101/12 C00103/12
True True False True C00101/13 C00103/13
True True True False C00101/14 C00103/14
True True True True C00101/15 C00103/15
CINH bLoad bRfg0 bRfgStop Function
False False False False RFG follows the input value via the ramps set
False False False True The value at the RFG output is held
False False True False RFG runs to 0 within the deceleration time set
False False True True
False True False False RFG accepts the value at nSet_a and provides it at its output
False True False True
False True True False
False True True True
Selection inputs usedAcceleration time
usedDeceleration time
bTI8 bTI4 bTI2 bTI1
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Function blocks | L_NSet
16.1.28.7 S-shaped ramp
A PT1 element is connected downstream of the linear ramp function generator. Thisarrangement implements an S-shaped ramp for a nearly jerk-free acceleration anddeceleration.
The PT1 element is switched on/off via the input bSShapeActive.
The corresponding S-ramp time can be set under C00182.
16.1.28.8 Arithmetic combination
The arithmetic block arithmetically combines the main setpoint and the additionalsetpoint. The arithmetic combination is selected via the code C00190.
16.1.28.9 Additional setpoint
Use nNAdd_a to combine an additional setpoint (e.g. a correcting signal) with the main setpoint.
Use bNAddInv to invert the input signal before it affects the ramp function generator. The ramp function generator has a linear characteristic. Its Ti times can be set under C00220 (acceleration time) and C00221 (deceleration time).
When bLoad is set to TRUE, the ramp function generator is set to 0 and held there without considering the Ti times. The same applies when the controller is inhibited.
True False False False RFG accepts the value at nCInhVal_a and provides it at its output
True False False True
True False True False
True False True True
True True False False
True True False True
True True True False
True True True True
CINH bLoad bRfg0 bRfgStop Function
Value in C00190 Function Example
0 nNout_a = x (y is not processed)
1 nNout_a = x + y
2 nNout_a = x - y
3 nNout_a = x ⋅y
4 nNout_a = x / |y|
5 nNout_a = x / (100 % - y)
nNOut_a x y⋅16384----------------=
nNOut_axy----- 164⋅=
nNOut_ax
16384 y–------------------------- 16384⋅=
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16.1.28.10 Application example for the additional load function
The motor control system of the drive is provided with a function that automaticallyadapts the ramp function generator to ensure a "jerk-free" setpoint injection. For thispurpose there is a control signal and an output signal. System block "LS_MotorInterface"
In case of speed-controlled drive tasks the output signal provides the current actual speedvalue (e.g. with pulse inhibit, flying restart, controller inhibit). If the motor control is in thisstate, the main setpoint generator must be adapted to the current actual value so that nosetpoint jerk can occur. This happens automatically if you connect the output signals of themotor control to the inputs bExternalCINH and nCInhValue_a.
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Function blocks | L_OffsetGainP
16.1.29 L_OffsetGainP
This FB is used to set the offset and gain of analog input signals. Usually, the FB isconnected directly downstream of the analog input terminals.
The internal calculations (addition and subtraction) are carried out with 32 bits without overflow/underflow.
Gain of lower input variables with a factor 0 ... ±100 .
The value provided at the nOut_a output is internally limited to ±199.99 %.
Inputs
Function blocks: L_OffsetGainP_1 L_OffsetGainP_2 L_OffsetGainP_3
Runtime: 17 μs
IdentifierData type
Information/possible settings
nIn_aINT
Input signal
L_OffsetGainP_1 ?
nIn_a nOut_a
C00696 C00670199.99%�
L_OffsetGainP_2 ?
nIn_a nOut_a
C00697 C00671199.99%�
L_OffsetGainP_3 ?
nIn_a nOut_a
C00698 C00672199.99%�
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Outputs
Parameter
Function
IdentifierData type
Value/meaning
nOut_aINT
Output signal • Internal limitation to ±199.99 %
Parameter Possible settings Information
C00670 (L_OffsetGainP_1)C00671 (L_OffsetGainP_2)C00672 (L_OffsetGainP_3)
-100.0000 100.0000 Gain factor • High gain factor for further
processing of smallest input signals.
• Please observe the difference with regard to the gain factors of other blocks in percent (±199.99 % ≈ 2).
• Lenze setting: 1.0000
C00696 (L_OffsetGainP_1)C00697 (L_OffsetGainP_2)C00698 (L_OffsetGainP_3)
-199.99 % 199.99 Offset • Lenze setting: 0.00 %
nOut_a nIn_a Offset+( ) Gain factor⋅=
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Function blocks | L_OffsetGainPhiP
16.1.30 L_OffsetGainPhiP
This FB is used to set the offset and gain of analog input signals. Usually, the FB isconnected directly downstream of the analog input terminals.
The internal calculations (addition and subtraction) are carried out with 32 bits without overflow/underflow.
Gain of lower input variables with a factor 0 ... ±100 .
The value provided at the dnOut_p output is internally limited to
±231 (= ±2147483648).
Inputs
Outputs
Parameter
Function blocks: L_OffsetGainPhiP_1 L_OffsetGainPhiP_2
Runtime: 17 μs
IdentifierData type
Information/possible settings
dnIn_pDINT
Input signal
IdentifierData type
Value/meaning
dnOut_pDINT
Output signal • Internal limitation to -231 ... +231
Parameter Possible settings Information
C00673/1 (L_OffsetGainPhiP_1)C00673/2 (L_OffsetGainPhiP_2)
-2147483647 Incr. 2147483647 Offset • Lenze setting: 0 incr.
C00674/1 (L_OffsetGainPhiP_1)C00674/2 (L_OffsetGainPhiP_2)
-2147483647 2147483647 Gain factor • Lenze setting: 65536
L_OffsetGainPhiP_ ?
dnIn_p dnOut_p
C00673/1 C00674/1C00673/2 C00674/2
2147483648�
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Function
dnOut_p dnIn_p Offset+( ) Gain factor⋅=
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Function blocks | L_Or
16.1.31 L_Or
This FB implements the ORing of the inputs signals.
Inputs
Outputs
Function
[16-19] Truth table of the FB L_Or
Function blocks: L_Or_1 L_Or_2 L_Or_3
Runtime: 2 μs
IdentifierData type
Information/possible settings
bIn1bIn2bIn3
BOOL
Input signal
IdentifierData type
Value/meaning
bOutBOOL
Output signal
Inputs Output
bIn3 bIn2 bIn1 bOut
False False False False
False False True True
False True False True
False True True True
True False False True
True False True True
True True False True
True True True True
bOutbIn2
bIn3
bIn1
?L_Or_
1
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Or5
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16.1.32 L_Or5
This FB implements the ORing of the inputs signals.
Inputs
Outputs
Function
[16-20] Truth table of the FB L_Or5
Function blocks: L_Or5_1 L_Or5_2
Runtime: 2 μs
IdentifierData type
Information/possible settings
bIn1...bIn5
BOOL
Input signal
IdentifierData type
Value/meaning
bOutBOOL
Output signal
Inputs Output
bIn5 bIn4 bIn3 bIn2 bIn1 bOut
False False False False False False
False False False False True True
False False False True False True
False False False True True True
False False True False False True
... True
True True True False True True
True True True True False True
True True True True True True
bOut
bIn2
bIn3
bIn4
bIn5
bIn1
?L_Or5_
1
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Function blocks | L_PhaseIntK
16.1.33 L_PhaseIntK
The FB can integrate a speed or velocity to an angle (path). In addition, the FB can recognisea relatively covered distance.
The integrator can take max. ±32000 encoder revolutions.
Functional range:
– Constant input value
– Input value with sign reversal
– Calculation of the output signal
Inputs
Outputs
Function blocks: L_PhaseIntK_1 L_PhaseIntK_2
Runtime: 5 μs
IdentifierData type
Information/possible settings
nIn_vINT
Selection of the actual speed • 16384 ≡ 15000 rpm
bLoadBOOL
Load angle integrator with starting value and reset status signal
True Angle integrator is loaded with the value at dnSet_p and bStatus is reset to FALSE.
dnSet_pDINT
Starting value for angle integrator
IdentifierData type
Value/meaning
dnOut_pDINT
Angle output signal • 65536 [inc] ≡ 1 encoder revolution • Overflow is possible (display via bStatus)
bStatusBOOL
Status signal "Overflow occurred/distance processed" • Status signal can be reset via bLoad.
True Overflow has occurred or distance is processed.
bStatus
L_PHINTK_ ?
nIn_v
IntervalTimeTASK
bLoad
dnSet_p
byModednCmp
dnOut_p
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Parameter
Parameter Possible settings Information
C01150/1 (L_PhaseIntK_1)C01150/2 (L_PhaseIntK_2)
Function • Lenze setting: 00 bLoad input is status-controlled
(TRUE signal)
1 bLoad input is edge-controlled (FALSE-TRUE edge)
2 bLoad input is status-controlled (TRUE signal), sign reversal
C01151/1 (L_PhaseIntK_1)C01151/2 (L_PhaseIntK_2)
0 2000000000 Comparison value • Lenze setting: 0
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Function blocks | L_PhaseIntK
16.1.33.1 Function at constant input value
Selection:
• byMode = 0 (status-controlled)
• byMode = 1 (edge-controlled)
[16-21] Switching performance at overflow in positive direction(+) variable with positive value(-) variable with negative value
When byMode = 0, the bLoad input is status-controlled, i.e. in case of a TRUE signal, the integrator is loaded with the value at dnSet_p and the bStatus output is set to FALSE.
When byMode = 1, the bLoad input is edge-controlled, i.e. in case of a FALSE-TRUE edge the integrator is loaded with the value at dnSet_p and then immediately continues to integrate, the bStatus output is set to FALSE.
A positive signal at nIn_v is incremented (the counter content is increased with every function call).
A negative signal at nIn_v is decremented (the counter content is reduced with every function call).
dnOut_p outputs the counter content of the bipolar integrator.
– If the counter content exceeds the value of +32767 encoder revolutions (corresponds to +2147483647 inc), an overflow occurs and the counting process continues at the value of -32768 encoder revolutions.
– If the counter content falls below the value of -32768 encoder revolutions (corresponds to -2147483648 inc), an overflow occurs and the counting process starts at the value of +32767 encoder revolutions.
bStatus is set to TRUE if the value set in dnCmp is reached.
dnOut_p
+32767
t
(+) dnCmp
(-) dnCmp
-32767
0
TRUE
FALSE
bStatus
t
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16.1.33.2 Function at input value with sign reversal
Selection: byMode = 2
[16-22] Switching performance in case of sign reversal of the input signal(+) variable with positive value(-) variable with negative value sign reversal of the value at nIn_v
When byMode = 2, the bLoad input is status-controlled, i.e. in case of a TRUE signal, the integrator is loaded with the value at dnSet_p and the bStatus output is set to FALSE.
A positive signal at nIn_v is incremented (the counter content is increased with every function call).
A negative signal at nIn_v is decremented (the counter content is reduced with every function call).
dnOut_p outputs the counter content of the bipolar integrator.
– If the counter content exceeds a positive value set in dnCmp, the counter content is subtracted by the value of dnCmp and for the time of one task cycle, bStatus is set to TRUE.
– If the counter content falls below a negative value set in dnCmp, the counter content is added by the value of dnCmp and for the time of one task cycle, bStatus is set to TRUE.
Sign reversal
dnOut_p
t
(+) dnCmp
(-) dnCmp
0
TRUE
FALSE
bStatus
t
�
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Function blocks | L_PhaseIntK
16.1.33.3 Calculation of the output signal
The output value at dnOut_p can be detected according to the following formula:
Example
You want to determine the counter content of the integrator at a certain speed at the inputand a certain integration time t.
Given values:
nIn_v = 1000 rpm ≈ integer value 1092
Integration time t = 10 s
Starting value of the integrator = 0
Solution:
Conversion of the input signal at nIn_v:
Calculation of the output value:
t = integration time16384 ≡ 15000 rpm1 inc ≡ 1
dnOut_p [inc] nIn_v [rpm] t [s] 65535 [inc/rev.]⋅ ⋅=
1000 rpm 1000 rev.60 s
-----------------------=
dnOut_p1000 rev.
60 s----------------------- 10 s
65535 increv.
-------------------------⋅ ⋅ 10922666 inc= =
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_PCTRL
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16.1.34 L_PCTRL
This FB is a PID controller and can be used for various control tasks (e.g. as dancer positioncontroller, tension controller, or pressure controller).
The FB is provides with the following functions:
Adjustable control algorithm (P, PI, PID)
Ramp function generator for preventing setpoint step-changes at the input
Limitation of the controller output
Factorisation of the output signal
Vp adaptation
Integral action component can be switched off
Inputs
Function blocks: L_PCTRL_1
Runtime: 20 μs
IdentifierData type
Information/possible settings
nAdapt_aINT
Adaptation of the gain Vp set under C00222 in percent • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Changes can be done online. • Display parameter: C00830/62
nNset_aINT
Speed setpoint • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/89
L_PCTRL
bSetEqAct
bIOff
nAct_a
bInAct
bActivateRamp
nInflu_a
nOut_a
?
nNSet_a
nSet_a
nAdapt_a
C00225
C00226C00233
C00227
C00228
C00243
C00244
1
C00245
C00242 C00223TnC00222Vp
C00224Kd
0|2|4|5
1|3
2|3
0|1|4|5
1
0
C00242
1|2|3|4
0|5
nISet_a
C00231
nPIDOut2_a
nPIDOut_a
nInfluenceOut_a
bISet
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Function blocks | L_PCTRL
Outputs
nSet_aINT
Sensor and process setpoint for operating modes 2, 4 and 5 • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/63
nAct_aINT
Speed or actual sensor value (actual process value) • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/61
bIOffBOOL
Switch off I-component of process controller • Changes can be done online. • Display parameter: C00833/77
True I-component of the process controller is switched off.
bInActBOOL
Deactivate process controller temporarily • Changes can be done online. • Display parameter: C00833/76Note: This input is not connected with the application NCTRL.
True Process controller is deactivated, the internal PID-component is switched off.
nInflu_aINT
Limitation of the influencing factor in percent • nInflu_a serves to limit the influencing factor of the PID controller contained in
the FB to a required value (- 199.99 % ... + 199.99 %). • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/64
bActivateRampBOOL
Activate ramp for influencing factor • Display parameter: C00833/106
True Influencing factor of the PID controller is ramped up to the nInflu_a value.
False Influencing factor of the PID controller is ramped down to "0".
bISetBOOL
Accept I component nISet_a in PID controller
True The value at the input nISet_a is accepted in the PID controller.
nISet_aINT
Selection of I component of PID controller • With a TRUE signal at bISet, the assigned value is accepted in the PID controller. • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 %
IdentifierData type
Value/meaning
nOut_aINT
Output signal • Scaling: 16384 ≡ 100 %
bActEqSetINT
Status output "Setpoint and actual value are identical"
True Setpoint and actual value are identical, i.e. no system deviation available.
nPIDOut2_aINT
PID controller output without influencing factor nInflu_a • The inputs bActivateRamp and nInflu_a do not have any effect here, the limited
PID output value influenced by the internal ramp times is output. • There is no connection with the additive input nNSet_a. • Scaling: 16384 ≡ 100 %
IdentifierData type
Information/possible settings
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Parameter
nPIDOut_aINT
PID controller output with influencing factor nInflu_a • There is no connection with the additive input nNSet_a. • Scaling: 16384 ≡ 100 % • Display parameter: C00245
nInfluenceOut_aINT
Current influencing factor ("ramp status") on the PID output value • Scaling: 16384 ≡ 100 %
Parameter Possible settings Information
C00222 0.1 0.1 500.0 Gain Vp • Lenze setting: 1.0
C00223 20 ms 6000 Reset time Tn • Lenze setting: 400 ms
C00224 0.0 0.1 5.0 Differential component Kd • Lenze setting: 0.0
C00225 -199.99 % +199.99 Maximum value of the PID operating range • Lenze setting: 199.99 %
C00226 -199.99 % +199.99 MinLimit • Minimum value of the PID
operating range • Lenze setting: -199.99 %
C00227 0.000 s 999.999 Acceleration time for the ramp at the PID output (should be set as steep as possible) • Lenze setting: 0.010 s
C00228 0.000 s 999.999 Deceleration time for the ramp at the PID output • Lenze setting: 0.010 s
C00231/1 (Pos. Maximum)C00231/2 (Pos. Minimum)C00231/3 (Neg. Minimum)C00231/4 (Neg. Maximum)
0.00 % 199.99 Operating range • Determination of the operating
range for the PID process controller by limiting the input signal nSet_a.
• Lenze setting: No limitation (-199.99 % ... +199.99 %)
C00233 Root function • Lenze setting: Off
Off The actual value at nAct_a is used as it is.
On The actual value at nAct_a is square-rooted.
IdentifierData type
Value/meaning
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Function blocks | L_PCTRL
C00242 Operating mode • Lenze setting: 0
0 Off The input setpoint nNSet_a is output without any changes at the output nOut_a.
1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID input values. The input setpoint nNSet_a is added to the value output by the PID element.
2 nSet_PID nSet_a and nAct_a are used as PID input values. The input nNSet_a is not considered.
3 nNSet_PID nNSet_a and nAct_a are used as PID input values. The input nSet_a is not considered.
4 nNSet + nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is added to the output value of the PID component.
5 nNSet || nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is output at the output nOut_a . The PID output value is output at the output nPIDOut_a.
C00243 0.000 s 999.999 Influence acceleration time • Acceleration time Tir for the
influencing factor. • Lenze setting: 5.000 s
C00244 0.000 s 999.999 Influence deceleration time • Deceleration time Tif for the
influencing factor. • Lenze setting: 5.000 s
C00245 -199.99 % +199.99 Display of PID output value nPIDOut_a
Parameter Possible settings Information
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16.1.34.1 Control characteristic
The PI algorithm is active in the Lenze setting.
Gain (P component)
The input value is controlled by a linear characteristic. The slope of the characteristic isdetermined by the controller gain Vp.
The controller gain Vp is set under C00222.
The controller gain can be adapted via the input nAdapt_a (also possible in online mode).
The input value nAdapt_a has a directly effect on the controller gain:
Example: With the parameterised controller gain Vp = 2.0 and nAdapt_a = 75 %, theresulting gain factor is as follows:
Integral action component (I component)
The I component can be selected via the input nISet_a. With a TRUE signal at bISet, theassigned value is accepted in the PID controller.
Setting the adjustment time Tn to the maximum value of "6000 ms" deactivates the I component.
The I component of the controller can also be deactivated by setting the input bIOff to TRUE.
The I component can be switched on and off online.
Adjustment time
The adjustment time Tn is set under C00223.
Differential component Kd (D component)
The differential component Kd is set under C00224.
The setting "0.0 s" deactivates the D component (Lenze setting). In this way, the PID controller becomes a PI controller or P controller, if the I component has been deactivated as well.
P nAdapt_a C00222⋅=
P75 [%]
100 [%]------------------- 2.0⋅ 1.5= =
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Function blocks | L_PCTRL
16.1.34.2 Ramp function generator
The PID output is led via a ramp function generator with linear characteristic. This servesto transfer setpoint step-changes at the PID output into a ramp which should be as steepas possible.
[16-23] Acceleration and deceleration times
tir and tif are the desired times for changing between w1 and w2.
The ramps for acceleration and deceleration can be set individually.
– C00227: acceleration time tir
– C00228: deceleration time tif
The tir/tif values are converted into the required Ti times according to the following formula:
The ramp function generator is immediately set to "0" by setting bInAct to TRUE.
16.1.34.3 Operating range of the PID process controller
The value range of the input signal nSet_a and thus the operating range of the PID processcontroller can be limited with the following parameters:
C00231/1: pos. maximum (default setting: 199.99 %)
C00231/2: pos. minimum (default setting: 0.00 %)
C00231/3: neg. minimum (default setting: 0.00 %)
C00231/4: neg. maximum (default setting: 199.99 %)
16.1.34.4 Evaluation of the output signal
After the limitation, the output signal is evaluated with the influencing factor nInflu_a.The evaluation is activated/suppressed along a ramp when the input bActivateRamp is setto TRUE. The ramp times are set with the parameters "Influence acceleration time"(C00243) and "Influence deceleration time" (C00244).
w1, w2 = change of the main setpoint as a function of tir and tifRFG-OUT = output of the ramp function generator
RFG-OUT
100 %
w2
w1
t0 %
t ir t if
Tir Tif
Tir tir100 %
w2 w1–----------------------⋅= Tif tif
100 %w2 w1–----------------------⋅=
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572 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.34.5 Deactivation of the process controller
Setting the input bInAct to TRUE deactivates the process controller. As a result, the PIDoutput, the I component, and the ramp function generator are reset to "0". A setpointdefined in operating modes 1 + 4 via the input nNSet_a, however, will still be output.
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8400 HighLine C | Software ManualFunction library
Function blocks | L_PT1
16.1.35 L_PT1
This FB filters and delays analog signals.
The filter time constant T can be set via parameters.
The gain is defined with Vp = 1.
Inputs
Outputs
Parameter
Function
[16-24] Filter time constant T of the first-order delay element
Function blocks: L_PT1_1 L_PT1_2 L_PT1_3
Runtime: 1 μs 3 μs 3 μs
IdentifierData type
Information/possible settings
nIn_aINT
Input signal
IdentifierData type
Value/meaning
nOutINT
Output signal
Parameter Possible settings Information
C00249 (L_PT1_1)C00250/1 (L_PT1_2)C00250/2 (L_PT1_3)
0.01 s 50.00 Filter time constant • When 0.01 s is set, the filter is not
active. • Lenze setting: 20.00 s
nOut_anIn_a
nDelayTime
L_PT1_ ?
T
V = 1p
t
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_RLQ
574 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.36 L_RLQ
This FB links a selected direction of rotation to the QSP function with wire-breakprotection.
Inputs
Outputs
Function
[16-25] Truth table of the FB L_RLQ, 0 = FALSE, 1 = TRUE
Function blocks: L_RLQ_1
Runtime: 3 μs
IdentifierData type
Information/possible settings
bCwBOOL
Input • TRUE = CW rotation
bCCwBOOL
Input • TRUE = CCW rotation
IdentifierData type
Value/meaning
bQSPBOOL
Output signal for QSP (quick stop)
bCwCcwBOOL
Output signal for CW/CCW rotation • TRUE = CCW rotation
Inputs Outputs Notes
bCw bCCw bCwCcw bQSP
True True False True Only if both inputs are TRUE at the moment of switch-on, the outputs are in these states!--> see also FB_Grafik (above), "Init" = 1.
If one of the inputs has the TRUE state, the following truth table applies:
False False False True see also FB_Grafik with symbolism "Init" = 0
True False False False
False True True False
True True X (save)
L_RLQ_1
bCwCcw
?
bCcw
bCw
&&
1
S
R
Init = 1
1
0
FALSE
TRUE1
0
Init = 0
bQsp
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8400 HighLine C | Software ManualFunction library
Function blocks | L_RSFlipFlop
16.1.37 L_RSFlipFlop
The functionality of this FB corresponds to an RS-FlipFlop:
An input signal at bSet serves to set the bOut output permanently.
An input signal at bReset serves to reset the output.
Additional, inverted output bNegOut
Inputs
Outputs
Function blocks: L_RSFlipFlop_1 L_RSFlipFlop_2
Runtime: 3 μs
IdentifierData type
Information/possible settings
bSetBOOL
Setting input
True • The bOut output is set to TRUE. • The bNegOut output is set to FALSE.
bResetBOOL
Reset input
True • The bOut output is set to FALSE. • The bNegOut output is set to TRUE.
IdentifierData type
Value/meaning
bOutBOOL
Output signal
bNegOutBOOL
Output signal, inverted
bNegOut
bOutbSet
bReset
?L_RSFlipFlop_
Q
Q
1S
1R
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_SampleHold
576 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.38 L_SampleHold
This FB can save a signal.
The saved value is also available after mains switching.
Inputs
Outputs
Function
When bLoad = TRUE, the nIn_a signal is switched to nOut_a.
When bLoad = FALSE, the last-valid value is saved and output at nOut_a. A signal change at nIn_a does not cause a change at nOut_a.
Behaviour after mains switching
The last-loaded value is permanently stored after switching of the supply voltage andreloaded after restart.
In order that the saved value is not immediately overwritten with the current input signal at nIn after restart, bLoad must be set to FALSE at restart.
Function blocks: L_SampleHold_1 L_SampleHold_2
Runtime: 3 μs
IdentifierData type
Information/possible settings
nIn_aINT
Input signal
bLoadBOOL
Save input signal
False The last-valid value at nIn is saved and output to nOut. A signal change at nIn does not cause a change at nOut.
True The nOut output provides dnIn.
IdentifierData type
Value/meaning
nOutINT
Output signal
nOut_anIn_a
L_SampleHold_ ?
S&HbLoad
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8400 HighLine C | Software ManualFunction library
Function blocks | L_SignalMonitor_a
16.1.39 L_SignalMonitor_a
This FB serves to output four analog signals which can be selected from a list of 16-bitanalog output signals of all FBs available in the device.
Offset and gain of the source signals are adjustable.
Outputs
Function blocks: L_SignalMonitor_a
Runtime: 15 μs
IdentifierData type
Value/meaning
nOut1_aINT
Output signal • Internal limitation to ±32767
nOut2_aINT
Output signal • Internal limitation to ±32767
nOut3_aINT
Output signal • Internal limitation to ±32767
nOut4_aINT
Output signal • Internal limitation to ±32767
L_SignalMonitor_a ?
nOut/1_a
nOut/2_a
nOut/3_a
nOut/4_a
C413/2
C413/4
C413/6
C413/8
C413/1
C413/3
C413/5
C413/7
C410/1
C410/2
C410/3
C410/4
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_SignalMonitor_a
578 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Parameter
Parameter Possible settings Information
C00410/1...C00410/4
Selection of signal source
0 Not connected
1000 LA_nCtrl_wDriveControlStatus
1001 LA_nCtrl_wFailNumber
1002 LA_nCtrl_nMotorCurrent_a
... ...
42017 LA_nCtrl_In_nPIDSerValue_a
C00413/1C00413/3C00413/5C00413/7
-199.99 % +199.99 Offset
C00413/2C00413/4C00413/6C00413/8
-199.99 % +199.99 gain
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8400 HighLine C | Software ManualFunction library
Function blocks | L_SignalMonitor_b
16.1.40 L_SignalMonitor_b
This FB serves to output four binary signals which can be selected from a list of 16-bitbinary output signals of all FBs available in the device.
Inversion of the output signal
Outputs
Function blocks: L_SignalMonitor_b
Runtime: 3 μs
IdentifierData type
Value/meaning
bOut1...bOut4
BOOL
Output signalFALSE / TRUE
L_SignalMonitor_b ?
bOut1
bOut2
bOut3
bOut4
0
1
26 37
C411/1
C411/2
C411/3
C411/4
1
1
1
1
1
1
1
C412: 04 15
2
3
xx 0/1xx
C412:
C412:
C412:
C412:
0
1
0
1
0
1
0
11
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_SignalMonitor_b
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Parameter
Parameter Possible settings Information
C00411/1...C00411/4
Selection of signal source
0 Not connected
1000 LA_nCtrl_bDriveReady
1001 LA_nCtrl_bDriveFail
1002 LA_nCtrl_bCInhActive
.. ...
42033 LA_NCtrl_bPIDIOff
C00412 Inversion • Bit set = inversion activeBit 0 bOut1 inverted
Bit 1 bOut2 inverted
Bit 2 bOut3 inverted
Bit 3 bOut4 inverted
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
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8400 HighLine C | Software ManualFunction library
Function blocks | L_Transient
16.1.41 L_Transient
This FB serves to evaluate digital signal edges and convert them into timed, retriggerablepulses.
The edge evaluation can be parameterised:
– Function 0: Evaluate rising signal edges
– Function 1: Evaluate falling signal edges
– Function 2: Evaluate rising and falling signal edges
Inputs
Outputs
Parameter
Function blocks: L_Transient_1 L_Transient_2 L_Transient_3 L_Transient_4
Runtime: 3 μs
IdentifierData type
Information/possible settings
bInBOOL
Input for edge evaluation • Function depends on the edge evaluation selected under C01140.
IdentifierData type
Value/meaning
bOutBOOL
Output (retriggerable)
Parameter Possible settings Information
C01140/1 (L_Transient_1)...C01140/4 (L_Transient_4)
Function • Selection of edge evaluation
0 Rising edge Lenze setting
1 Falling edge
2 Both edges
C01141/1 (L_Transient_1)...C01141/4 (L_Transient_4)
0.001 s 60.000 Pulse duration • Lenze setting: 0.001 s
bOutbIn
Function wPulseTime
L_TRANS_ ?
0 t
8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Transient
582 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.1.41.1 Function 0: Evaluate rising signal edges
Setting: C01140 = 0
[16-26] Switching performance when rising edges are evaluated
Functional sequence
1. A FALSE-TRUE edge at the bIn input sets the bOut output to TRUE.
2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a further FALSE-TRUE edge has occurred at the input bIn.
– In case of another FALSE-TRUE edge at the input bIn, the pulse time restarts to elapse, i.e. the output bOut can be retriggered.
Note!
When the interval time of the task is set to >1 ms and the pulse duration is not an integer multiple of the interval time, the pulse duration is automatically prolonged to the next integer multiple of the interval time.
TRUE
FALSE
bOut
t
TRUE
FALSE
bIn
t
wPulseTime wPulseTime wPulseTime
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Function blocks | L_Transient
16.1.41.2 Function 1: Evaluate falling signal edges
Setting: C01140 = 1
[16-27] Switching performance when falling edges are evaluated
Functional sequence
1. A TRUE-FALSE edge at the bIn input sets the bOut output to TRUE.
2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a further TRUE-FALSE edge has occurred at the input bIn.
– In case of another TRUE-FALSE edge at the input bIn, the pulse time restarts to elapse, i.e. the output bOut can be retriggered.
16.1.41.3 Function 2: Evaluate rising and falling signal edges
Setting: C01140 = 2
[16-28] Switching performance when rising and falling edges are evaluated
Functional sequence
1. A signal change (FALSE-TRUE or TRUE-FALSE edge) at the bIn input sets the bOut output to TRUE.
2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a further FALSE-TRUE edge has occurred at the input bIn.
– In case of another signal change at the input bIn, the pulse time restarts to elapse, i.e. the output bOut can be retriggered.
TRUE
FALSE
bOut
t
TRUE
FALSE
bIn
t
wPulseTimewPulseTime wPulseTime
TRUE
FALSE
bOut
t
TRUE
FALSE
bIn
t
wPulseTimewPulseTime wPulseTime
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_DisFree
584 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.2 System blocks
16.2.1 LS_DisFree
This system block serves to display any 16-bit process signal on display codes.
Inputs
Parameter
IdentifierData type
Information/possible settings
wDis01 ... wDis04WORD
Input
Parameter Possible settings Information
C00481/1 ... 4 0x0000 0xFFFF General 16-bit signal • Read only
LS_DisFree ?
wDis01
wDis02
wDis03
wDis04
C481/1
C481/2
C481/3
C481/4
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8400 HighLine C | Software ManualFunction library
System blocks | LS_DisFree_a
16.2.2 LS_DisFree_a
This system block serves to display four percentage values of analog process signals ondisplay codes.
Inputs
Parameter
IdentifierData type
Information/possible settings
nDis01_a ... nDis04_aINT
Input
Parameter Possible settings Information
C00482/1 ... 4 - 199.99 % + 199.99 % Process signal • Read only
LS_DisFree_a ?
nDis01
nDis02
nDis03
nDis04
C482/1
C482/2
C482/3
C482/4
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_DisFree_b
586 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.2.3 LS_DisFree_b
This system block serves to display eight boolean process signals on a bit-standardiseddisplay code.
Inputs
Parameter
IdentifierData type
Information/possible settings
bDis01 ... nDis08BOOL
Input
Parameter Possible settings Information
C00480 0 1 Process signal • Bit-coded display
LS_DisFree_b ?
bDis02
bDis01
bDis03
bDis04
bDis05
bDis06
bDis07
bDis08
C480
C480
C480
C480
C480
C480
C480
C480
Bit 1
Bit 0
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
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8400 HighLine C | Software ManualFunction library
System blocks | LS_MotionControlKernel
16.2.4 LS_MotionControlKernel
The system block LS_MotionControlKernel provides the interface for theMotionControlKernel with the basic drive functions in the FB Editor.
LS_MotionControlKernel ?
nSpeedOverride_a
nAccOverride_a
wMotionCtrl
wAuxCtrl1
wAuxCtrl2
bLimitSwitchPos
bLimitSwitchNeg
bHomMark
bBrkRelease
bBrkStartTorqueDir
nBrkTorqueAdd_a
bBrkApplied
bDeltaPosOn_bDeltaPosOn
bPosCtrlOn_bPosCtrlOn
dnDeltaPos_p_dnDeltaPos_p
dnPosSetValue_p_dnPosSetValue_p
bPosDerivativeOn_bPosDerivativeOn
bMotorRefOffsetOn_bMotorRefOffsetOn
dnMotorRefOffset_p_dnMotorRefOffset_p
bQspOn_bQspOn
nPWMAngleOffset_a_nPWMAngleOffset_a
bSpeedCtrlIOn_bSpeedCtrlIOn
nSpeedCtrlI_a_nSpeedCtrlI_a
nSpeedSetValue_a_nSpeedSetValue_a
bTorqueModeOn_bTorqueModeOn
nTorqueSetValue_a_nTorqueSetValue_a
bDcBrakeOn_bDcBrakeOn
nSpeedSet_v
dnPosTarget_p
wMotionState
wAuxState1
wAuxState2
bPosBusy
bPosDone
bHomDone
bHomAvailable
bBrkReleaseOut
bBrkReleased
nSpeedSet_v
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_MotionControlKernel
588 L Firmware 02.00 - DMS EN 3.0 - 05/2009
Inputs
IdentifierData type
Information/possible settings
bPosCtrlOnBOOL
True Position control on
bDeltaPosOnBOOL
To position the motor shaft, the position control within the motor control can both operate with a position setpoint (position / [Inc])and alternatively with a speed setpoint (Nsoll/[% of C11]) and a following error input (difference between setpoint and actual position /[Inc])This signal serves to switch over between both methodsUsually, the signal in Lenze applications is TRUE.
True Control to following error
dnDeltaPos_pDINT
Following error input
dnPosSetValue_pDINT
Absolute position setpoint see bDeltaPosOn
bPosDerivativeOnBOOL
Feedforward control of the speed controller through differentiation of the position setpoint.For highly dynamic controls a feedforward control of the speed controller can be switched on. For this, the absolute position setpoint is differentiated and fed after the speed controller.
True Feedforward control of the speed controller is switched on
bMotorRefOffsetOnBOOL
A High edge at this input affects the internal position integrators in the MCK and the motor control so that the value dnMotorRefOffset_p is added to the current integrator value as offset value.
True dnMotorRefOffset_p is added as offset value
dnMotorRefOffset_pDINT
Position offset [Inc] to affect the current actual position of the motor control by offset addition.
bQspOnBOOL
True Initiate quick stop
nPWMAngleOffset_aINT
Angular offset input0 .. 199.99%
bSpeedCtrlIOnBOOL
True FALSE/TRUE edge
nSpeedCtrlI_aINT
I-component of the speed controllerThis input serves to directly set the I-component of the speed controller (e.g. to automatically provide a minimum torque statically when a load is lifted).
nSpeedSetValue_aINT
Main setpoint of speed
bTorquemodeOnBOOL
True Switch on torque-controlled operation
nTorqueSetValue_aINT
Torque setpoint
bDcBrakeOnBOOL
True Activate DC-injection braking
nSpeedAdd_vINT
Additive speed setpoint
nSpeedOverride_aINT
Speed override
nAccOverride_aINT
Acceleration override
wMotionCtrlWORD
Positioning control word 1This control word serves to control the MCK
wAuxCtrl1WORD
Additional control word 1
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System blocks | LS_MotionControlKernel
Outputs
wAuxCtrl2WORD
Additional control word 2
bLimitSwitchPosBOOL
Input for limit switch (positive)
bLimitSwitchNegBOOL
Input for limit switch (negative)
bHomMarkBOOL
True Pre-switch-off mark
bBrkReleaseBOOL
True Manual brake release, also forced release
bBrkStartTorqueDirBOOL
True Feedforward control direction for holding brake operation
nBrkTorqueAdd_aINT
Additive feedforward control torque
bBrkAppliedBOOL
Feedback signal - switching state of holding brake
True Brake is controlled (waiting times expired
IdentifierData type
Value/meaning
bPosCtrlOn_BOOL
True Position control on
bDeltaPosOn_BOOL
True Control to following error
dnDeltaPos_p_DINT
Following error input
dnPosSetValue_p_DINT
Absolute position setpoint
bPosDerivativeOn_BOOL
True Differentiation of the position setpoint
bMotorRefOffsetOn_BOOL
True Add error offset to integrators
dnMotorRefOffset_p_DINT
Error offset
bQspOn_BOOL
True Initiate quick stop
nPWMAngleOffset_a_INT
Angular offset input
bSpeedCtrlIOn_BOOL
True Set I-component of the speed controller
nSpeedCtrlI_a_INT
I-component of the speed controller
nSpeedSetValue_a_INT
Main setpoint of speed
bTorqueModeOn_BOOL
True Switch on torque-controlled operation
nTorqueSetValue_a_INT
Torque setpoint
bDcBrakeOn_BOOL
True Activate DC-injection braking
nSpeedSet_vINT
Speed setpoint selection
IdentifierData type
Information/possible settings
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_MotionControlKernel
590 L Firmware 02.00 - DMS EN 3.0 - 05/2009
dnPosTarget_pDINT
Target position
wMotionStateWORD
MCK status word
wAuxState1WORD
Additional status word 1
wAuxState2WORD
Additional status word 2
bPosBusyBOOL
Profile is active
bPosDoneBOOL
Set position approached
bHomDoneBOOL
Homing executed
bHomAvailableBOOL
Home position known
bBrkReleaseOutBOOL
Trigger signal for switching element holding brake control via a digital output • Use bit 0 under C02582 to activate inverted switching element triggering.
Holding brake control ( 335)
False Apply brake.
True Release brake.
bBrkReleasedBOOL
Brake control status signal with consideration of the application and release time of the brake
Holding brake control ( 335)
False Brake applied (when the brake application time has elapsed).
True Brake released (when the brake release time has elapsed).
IdentifierData type
Value/meaning
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8400 HighLine C | Software ManualFunction library
System blocks | LS_ParFix
16.2.5 LS_ParFix
This system block provides the user with fixed values which can be used in theinterconnection for parameterisation purposes.
Outputs
IdentifierData type
Information/possible settings
The output values are fixed and can therefore not be parameterised.
bTrueBOOL
1 ≡ TRUE
nPos100_aINT
16384 ≡ + 100 %
nNeg100_aINT
- 16384 ≡ - 100 %
nPos199_99_aINT
32767 ≡ + 199.99 %
nNeg199_99_aINT
- 32767 ≡ - 199.99 %
w65535WORD
65535 ≡ 0xFFFF
wDriveCtrlWORD
9 ≡ 0x0009 • Bit 0, SwitchOn = TRUE • Bit 3, EnableOperation = TRUE • All others: FALSESee also:
Control word and status word of the controller ( 73)
LS_ParFix ?
bTrue
nPos100_a
nNeg100_a
nPos199_99_a
nNeg199_99_a
w65535
wDriveCtrl
%
%
%
%
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_ParFree
592 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.2.6 LS_ParFree
This system block provides 4 WORD signals which can be parameterised separately in HEXformat by the user.
Outputs
Parameter
IdentifierData type
Information/possible settings
wPar1 ... wPar4WORD
Output
Parameter Possible settings Information
C00471/1...4 0x0000 0xFFFF Selection of words to be output
LS_ParFree ?
wPar01
wPar02
wPar03
wPar04
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8400 HighLine C | Software ManualFunction library
System blocks | LS_ParFree_a
16.2.7 LS_ParFree_a
This system block provides 4 analog signals which can be parameterised separately by theuser.
Outputs
Parameter
IdentifierData type
Information/possible settings
nPar01_a ... nPar04_aINT
Output
Parameter Possible settings Information
C00472/1...4 -199.99 % +199.99 Selection of analog signals to be output
LS_ParFree_a ?
nPar01_a
nPar02_a
nPar03_a
nPar04_a
%
%
%
%
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_ParFree_b
594 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.2.8 LS_ParFree_b
This system block provides 16 digital signals which can be parameterised separately by theuser.
Outputs
Parameter
ü
IdentifierData type
Information/possible settings
bPar01 ... bPar16BOOL
Output
Parameter Possible settings Information
C00470 Selection of signal levels to be output • Bit 0 ... 15 = bPar01 ... bPar160 "FALSE" signal is output
1 "TRUE" signal is output
LS_ParFree_b ?
bPar01
bPar02
bPar03
bPar04
bPar05
bPar06
bPar07
bPar08
bPar09
bPar10
bPar11
bPar12
bPar13
bPar14
bPar15
bPar16
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8400 HighLine C | Software ManualFunction library
System blocks | LS_ParFree_v
16.2.9 LS_ParFree_v
This system block provides 4 speed signals which can be parameterised separately by theuser.
Outputs
Parameter
IdentifierData type
Information/possible settings
nPar01_v ... nPar04_vINT
Output
Parameter Possible settings Information
C00473/1...4 -32767 Incr./ms +32767 Selection of speed signals to be output
LS_ParFree_v ?
nPar01_v
nPar02_v
nPar03_v
nPar04_v
rpm
rpm
rpm
rpm
8400 HighLine C | Software ManualFunction librarySystem blocks | LS_PulseGenerator
596 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16.2.10 LS_PulseGenerator
This system block creates ten different frequencies by an internal pulse generator andprovides these at the output of the FB.
9 fixed frequencies
1 variable output frequency with adjustable pulse / dead time.
Outputs
IdentifierData type
Value/meaning
b100HzBOOL
Output frequency • Rectangular signal 100 Hz
b10HzBOOL
Output frequency • Rectangular signal 10 Hz
b2HzBOOL
Output frequency • Rectangular signal 2 Hz
b1HzBOOL
Output frequency • Rectangular signal 1 Hz
b1HzFlashBOOL
Output signal • 80 ms-pulse, repetition rate every second
b2HzFlashBOOL
Output signal • 80 ms-pulse, repetition rate every 0.5 seconds
bSingleFlash1BOOL
Output signal • 80 ms-pulse, repetition rate every 1.25 seconds
bSingleFlash2BOOL
Output signal • 80 ms-pulse, repetition rate every 2 seconds
bDoubleFlashBOOL
Output signal • 80 ms-double pulse, repetition rate every 1,25 seconds
bSquareWaveBOOL
Output frequency • Variable output frequency can be set with C00400
LS_PulseGenerator ?
b100Hz
b10Hz
b2Hz
b1Hz
b1HzFlash
b2HzFlash
bSingleFlash1
bSingleFlash2
bDoubleFlash
bSquareWaveG
G
C00400/1C00400/2
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System blocks | LS_PulseGenerator
Parameter
Parameter Possible settings Information
C00400/1 0 ms 60000 Length of LOW level (dead time) • For output bSquareWave • Lenze setting: 1000 ms
C00400/2 0 ms 60000 Length of HIGH level • For output bSquareWave • Lenze setting: 1000 ms
8400 HighLine C | Software ManualParameter reference
598 L Firmware 02.00 - DMS EN 3.0 - 05/2009
17 Parameter reference
All parameters for controller parameter setting and monitoring are stored under so-called"codes".
The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".
For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".
The terms "code" and "subcode" generally correspond to the terms "index" and "subindex" and "parameter" and "subparameter".
Codes can be used to implement the following functions when working with the 8400 frequency inverters:
– Selection of setpoints, e.g. acceleration time.
– Display of actual values, e.g. actual motor current.
– Configuration of signal connections, e.g. assigning the digital input terminals to the control inputs of the technology application.
– Configuration of monitoring systems, e.g. selection of error reactions and trigger thresholds.
Parameters that are only available as of a certain software version are provided with acorresponding not ("as of version xx.xx.xx") in the parameter description.
The parameter descriptions are based on software version V02.00.00
Tip!
For quick reference of a parameter with a certain name, simply use the index of the online documentation. The index always contains the corresponding code in parentheses after the name.
For general information on how to read and change parameters, please see the online documentation for the »Engineer«.
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Structure of the parameter descriptions
17.1 Structure of the parameter descriptions
Each parameter is described in the Parameter list in the form of a table which consists ofthe following three areas:
Table header
The table header contains the following general information:
Parameter number (Cxxxxx)
Parameter name (display text in »Engineer» and keypad)
Data type
Parameter index in decimal and hexadecimal notation for access via a fieldbus (e.g. CAN system bus).
Tip!
The parameter index is calculated as follows:
• Index [dec] = 24575 - code
• Index [hex] = 0x5FFF - code
Example for code C00005:
• Index [dec] = 24575 - 5 = 24570
• Index [hex] = 0x5FFF - 0x{5} = 0x5FFA
Table contents
The table contains further general explanations & notes on the parameter and the possiblesettings, which are represented in different ways depending on the parameter type:
Parameters with read-only access
Parameters with write access
Table footer
The table footer contains the Parameter attributes.
8400 HighLine C | Software ManualParameter referenceStructure of the parameter descriptions
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17.1.1 Data type
The parameters can be of the following data types:
17.1.2 Parameters with read-only access
Parameters for which the "write access" attribute has not been set, can only be read. Theycannot be changed by the user.
Description structure
Representation in the »Engineer«
The »Engineer« displays these parameters with a grey background or, with an onlineconnection, with a pale-yellow background:
Data type Meaning
INTEGER_8 8-bit value with sign
INTEGER_16 16-bit value with sign
INTEGER_32 32-bit value with sign
INTEGER_64 64-bit value with sign
UNSIGNED_8 8-bit value without sign
UNSIGNED_16 16-bit value without sign
UNSIGNED_32 32-bit value without sign
UNSIGNED_64 64-bit value without sign
FLOATING_POINT 32-bit floating point number
VISIBLE_STRING String of characters from printable characters
OCTET_STRING String of characters from any characters
BITFIELD_8 8-bit value, bit-coded
BITFIELD_16 16-bit value, bit-coded
BITFIELD_32 32-bit value, bit-coded
Parameter | Name:
Cxxxxx | _____________Data type: _______
Index: _______
Description
Display range (min. value | unit | max. value)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
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8400 HighLine C | Software ManualParameter reference
Structure of the parameter descriptions
17.1.3 Parameters with write access
Only parameters with a check mark ( ) in front of the "write access" attribute can bechanged by the user. The Lenze setting for these parameters is printed in bold.
The settings can either be selected from a selection list or the values can be entered directly.
Values outside the valid setting range are represented in red in the »Engineer«.
17.1.3.1 Parameters with setting range
Description structure
Parameter setting in the »Engineer«
In the »Engineer«, parameters are set by entering the desired value into the input field:
17.1.3.2 Parameters with selection list
Description structure
Parameter | Name:
Cxxxxx | _____________Data type: _______
Index: _______
Description
Setting range (min. value | unit | max. value) Lenze setting
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
Cxxxxx | _____________Data type: _______
Index: _______
Description
Selection list (Lenze setting printed in bold)
1
2
3
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceStructure of the parameter descriptions
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Parameter setting in the »Engineer«
In the »Engineer«, a list field is used for parameter setting:
17.1.3.3 Parameters with bit-coded setting
Description structure
Parameter setting in the »Engineer«
The »Engineer« uses a dialog box for parameter setting in which the individual bits can beset or reset. Alternatively, the value can be entered as a decimal or hexadecimal value:
Parameter | Name:
Cxxxxx | _____________Data type: _______
Index: _______
Description
Value is bit-coded:
Bit 0
...
Bit 31
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
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Structure of the parameter descriptions
17.1.3.4 Parameters with subcodes
Description structure
Parameter setting in the »Engineer«
The »Engineer« parameter list lists all subcodes separately. The parameters are set asdescribed in the previous chapters.
17.1.4 Parameter attributes
The parameter attributes are listed in the table footer:
Parameter | Name:
Cxxxxx | _____________Data type: _______
Index: _______
Description
Setting range (min. value | unit | max. value)
Subcodes Lenze setting
Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Attribute Meaning
Read access Read access to parameter possible.
Write access Write access to parameter possible. • Please also observe the following attributes:
CINH Parameter value can only be changed when the controller is inhibited.
PLC STOP Parameter value can only be changed when the application is stopped.
No transfer Parameter is not transferred to controller when the command Download parameter set is executed.
COM Communication-relevant parameter • This parameter is relevant for parameter data transfer via the (CAN) system bus.
MOT Motor control parameters
8400 HighLine C | Software ManualParameter referenceStructure of the parameter descriptions
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Scaling factor
The "scaling factor" is important for parameter access via the bus system.
Example 1: The value "654" of the parameter C00028/1 (AIN1: input voltage) read via a bussystem must be divided by the corresponding scaling factor "100" to obtain the actualdisplay value "6.54 V".
[17-1] Conversion formula for read access via bus system
Example 2: To set the parameter C00012 (acceleration time for main setpoint) via a bussystem to the value "123.45 %", the integer value "12345" must be transferred, i.e. thevalue to be set must be multiplied by the corresponding scaling factor "100".
[17-2] Conversion formula for write access via bus system
Signal type Scaling factor Resolution Value range
Analog (scaled) 100 16 bits signed ± 199.99 %
Angular velocity 1 16 bits signed ± 32767 incr./ms
Position in [units] 10000 32 bits signed ± 214748.3647 [units]
Digital (BOOL) 1 8 bits unsigned 0 ≡ FALSE; 1 ≡ TRUE
Time 1000 16 bits unsigned 0 ... 999.000 s
Selection value 1 16 bits unsigned 0 ... 65535
Read value (via bus system)Scaling factor
----------------------------------------------------------------------- Indicated value (Engineer)=
Value to be written (via bus system) Value to be set Scaling factor⋅=
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Parameter list
17.2 Parameter list
This chapter lists all parameters of the operating system in numerically ascending order.
C00002
Note!
The parameter descriptions are based on software version V02.00.00.
Parameter | Name:
C00002 | Controller commandsData type: UNSIGNED_8
Index: 24573d = 5FFDh
Note:Before switching off the supply voltage after carrying out a device command, check whether the device command has been carried out successfully via the status display under C00003!
Drive control (DCTRL): Device commands
Selection list
0 Off / ready
1 On / start
4 Action cancelled
5 No access
6 No access controller inhibit
20 20% working
40 40% working
60 60% working
80 80% working
Subcodes Lenze setting Information
C00002/1 0: Off / ready Load Lenze setting • All parameters are reset to the Lenze setting. • Only possible when the controller is inhibited.
C00002/2 0: Off / ready Reserved
C00002/3 0: Off / ready Reserved
C00002/4 0: Off / ready Reserved
C00002/5 0: Off / ready Reserved
C00002/6 0: Off / ready Load all parameter sets • All parameter sets are loaded from the memory
module. • Only possible when the controller is inhibited.
C00002/7 0: Off / ready Reserved
C00002/8 0: Off / ready Reserved
C00002/9 0: Off / ready Reserved
C00002/10 0: Off / ready Reserved
C00002/11 0: Off / ready Save all parameter sets • All parameter sets are saved safe against mains
failure in the memory module.
C00002/12 0: Off / ready Reserved
C00002/13 0: Off / ready Reserved
C00002/14 0: Off / ready Reserved
8400 HighLine C | Software ManualParameter referenceParameter list
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C00002/15 0: Off / ready Reserved
C00002/16 1: On / start Enable controller"1" ≡ Enable controller"0" ≡ Inhibit controller
C00002/17 0: Off / ready Activate quick stop"1" ≡ Activate quick stop"0" ≡ Deactivate quick stop
C00002/18 0: Off / ready Reserved
C00002/19 0: Off / ready Reset error • After resetting the current error, further errors may be
pending, which also have to be reset. • The status-determining error is displayed in C00168. • The current error is displayed in C00170.
C00002/20 0: Off / ready Reserved
C00002/21 0: Off / ready Delete logbook • All entries in the controller logbook are deleted. • In the logbook, information on the error history is
saved.
C00002/22 0: Off / ready Reserved
C00002/23 0: Off / ready Identify motor parameter • This device command is used to start the automatic
identification of the motor parameters. • This device command is only executed when the
controller is in the "Switched On" state • To execute the identification of the motor
parameters, the controller must be enabled after this device command.
C00002/24 0: Off / ready Reserved
C00002/25 0: Off / ready Reserved
C00002/26 0: Off / ready CAN reset node • Reinitialise "CAN on board" interface. • Required when changing the baud rate, node address
or identifiers.System bus "CAN on board"
C00002/27 0: Off / ready Reserved
C00002/28 0: Off / ready Reserved
C00002/29 0: Off / ready Reserved
C00002/30 0: Off / ready Reserved
C00002/31 0: Off / ready Reserved
C00002/32 0: Off / ready Reserved
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00002 | Controller commandsData type: UNSIGNED_8
Index: 24573d = 5FFDh
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Parameter list | C00003
C00003
C00005
Parameter | Name:
C00003 | Status of last device commandData type: UNSIGNED_8
Index: 24572d = 5FFCh
Status of the device command carried out last (C00002).
Note:Before switching off the supply voltage after carrying out a device command, check whether the device command has been carried out successfully via the status display!
Drive control (DCTRL): Device commands
Selection list (read only) Information
0 Successful Device command was carried out successfully.
1 Command unknown Device command implausible or not known in the system.
2 No access Access for requested device command not accepted.
3 Time-out Device command could not be carried out in the time defined (time-out).
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00005 | Application selectionData type: UNSIGNED_16
Index: 24570d = 5FFAh
Selection of the technology application
Selection list (Lenze setting printed in bold) Information
0 Wiring has changed This display appears if the FB interconnection has been changed in the application level using the FB Editor.
1000 Actuating drive speed This technology application is used to solve speed-controlled drive tasks, e.g. conveying belts.
2000 Table positioning This technology application is used to solve postion-controlled drive tasks, which are usually controlled via a higher-level control system using a fieldbus.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00006
608 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00006Parameter | Name:
C00006 | Select motor controlData type: UNSIGNED_8
Index: 24569d = 5FF9h
Selection of the motor control mode (operating mode)Motor control (MCTRL): Selection of control mode
Selection list (Lenze setting printed in bold) Information
2 SC: Servo control ASM This control type is used for the servo control of an asynchronous motor. • The control type requires a speed feedback via an
encoder mounted to the motor!
4 SLVC: Vector control This control type is used for sensorless vector control of an asynchronous motor. • The control type requires motor parameters to be set
as accurately as possible!
6 VFCplus: V/f linear This control type is used for the speed control of an asynchronous motor via a linear V/f characteristic and is the simplest control type. • For setting the V/f characteristic, only the rated
frequency (C00089) and the rated voltage (C00090) of the motor have to be entered.
7 VFCplus: V/f linear + encoder This control type is used for speed control of an asynchronous motor via a linear V/f characteristic. • The control type requires a speed feedback via an
encoder mounted to the motor! • For setting the V/f characteristic, only the rated
frequency (C00089) and the rated voltage (C00090) of the motor have to be entered.
8 VFCplus: V/f quadr This control type is used for speed control of an asynchronous motor via a square-law V/f characteristic. • For setting the V/f characteristic, only the rated
frequency (C00089) and the rated voltage (C00090) of the motor have to be entered.
9 VFCplus: V/f quadr + encoder This control type is used for speed control of an asynchronous motor via a square-law V/f characteristic. • The control type requires a speed feedback via an
encoder mounted to the motor! • For setting the V/f characteristic, only the rated
frequency (C00089) and the rated voltage (C00090) of the motor have to be entered.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
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8400 HighLine C | Software ManualParameter reference
Parameter list | C00007
C00007
C00008
Parameter | Name:
C00007 | Select control modeData type: UNSIGNED_16
Index: 24568d = 5FF8h
With this parameter the control mode for the technology application selected under C00005 is defined, i.e. how the inputs and outputs of the technology application are connected to the I/Os of the controller. • How the inputs and outputs are connected in the individual control modes is described in the corresponding
technology application.TA "Actuating drive – speed"
TA "Table positioning"
Selection list (Lenze setting printed in bold) Information
0 Wiring has changed This is displayed when the FB interconnection has been changed in the I/O level via the FB Editor.
10 Terminals 0 The technology application is controlled via the digital and analog input terminals of the controller.
12 Terminal 2 The technology application is controlled via the digital and analog input terminals of the controller.
14 Terminal 11 The technology application is controlled via the digital and analog input terminals of the controller.
20 Keypad The technology application is controlled via the keypad.
21 PC The technology application is controlled via the "Free parameters" of the controller (PC control).
30 CAN The technology application is controlled by means of CAN-PDOs via the system bus "CAN on board".
System bus "CAN on board"
40 MCI The technology application is controlled by means of MCI-PDOs via the MCI-interface of an attached communication module (e.g. PROFIBUS).
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00008 | Original application|Control sourceData type: UNSIGNED_16
Index: 24567d = 5FF7h
Display of the originally selected technology application and the originally selected control mode. • This parameter shows the selection that was set with C00005 and C00007 before a change in the I/O level or the
application level was carried out. • For purposes of diagnostics this display can be used to determine whether there is a standard signal
interconnection within the controller, or whether a change was carried out by the user.
Selection list (read only) Information
0 Free|Free Application: Interconnection changedI/O level: Interconnection changed
10 Free|Terminal0 Application: Interconnection changedI/O level: "Terminals 0" control mode
12 Free|Terminal2 Application: Interconnection changedI/O level: "Terminals 2" control mode
14 Free|Terminal11 Application: Interconnection changedI/O level: "Terminals 11" control mode
20 Free|Keypad Application: Interconnection changedI/O level: "Keypad" control mode
21 Free|PC Application: Interconnection changedI/O level: "PC" control mode
30 Free|CAN Application: Interconnection changedI/O level: "CAN" control mode
40 Free|MCI Application: Interconnection changedI/O level: "MCI" control mode
1000 Speed|Free Application: Actuating drive - speedI/O level: Interconnection changed
8400 HighLine C | Software ManualParameter referenceParameter list | C00011
610 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00011
1010 Speed|Terminal0 Application: Actuating drive - speedI/O level: "Terminals 0" control mode
1012 Speed|Terminal2 Application: Actuating drive - speedI/O level: "Terminals 2" control mode
1014 Speed|Terminal11 Application: Actuating drive - speedI/O level: "Terminals 11" control mode
1020 Speed|Keypad Application: Actuating drive - speedI/O level: "Keypad" control mode
1021 Speed|PC Application: Actuating drive - speedI/O level: "PC" control mode
1030 Speed|CAN Application: Actuating drive - speedI/O level: "CAN" control mode
1040 Speed|MCI Application: Actuating drive - speedI/O level: "MCI" control mode
2000 TabPos|Free Application: Table positioningI/O level: Interconnection changed
2010 TabPos|Terminal0 Application: Table positioningI/O level: "Terminals 0" control mode
2012 TabPos|Terminal2 Application: Table positioningI/O level: "Terminals 2" control mode
2014 TabPos|Terminal11 Application: Table positioningI/O level: "Terminals 11" control mode
2020 TabPos|Keypad Application: Table positioningI/O level: "Keypad" control mode
2021 TabPos|PC Application: Table positioningI/O level: "PC" control mode
2030 TabPos|CAN Application: Table positioningI/O level: "CAN" control mode
2040 TabPos|MCI Application: Table positioningI/O level: "MCI" control mode
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00008 | Original application|Control sourceData type: UNSIGNED_16
Index: 24567d = 5FF7h
Parameter | Name:
C00011 | Appl.: Reference speedData type: UNSIGNED_16
Index: 24564d = 5FF4h
Setting the reference speed • In the controller, all speed-related signals are processed to a reference variable in percent. • Here, the reference speed corresponding to 100 % is set.
Note:This is not a maximum limitation!All percentage values in the controller can be in the range of 0 ... 199.99 %.
Setting range (min. value | unit | max. value) Lenze setting
50 rpm 60000 1500 rpm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
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8400 HighLine C | Software ManualParameter reference
Parameter list | C00012
C00012
C00013
C00015
C00016
Parameter | Name:
C00012 | Accel. time - main setpointData type: UNSIGNED_32
Index: 24563d = 5FF3h
FB L_NSet_1: Acceleration time of the ramp generator for the main speed setpoint • This ramp generator is basically used for all speed-controlled technology applications.
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 2.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00013 | Decel. time - main setpointData type: UNSIGNED_32
Index: 24562d = 5FF2h
FB L_NSet_1: Deceleration time of the ramp generator for the main speed setpoint • This ramp generator is basically used for all speed-controlled technology applications.
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 2.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00015 | VFC: V/f base frequencyData type: UNSIGNED_16
Index: 24560d = 5FF0h
V/f base frequency for VFCplus mode • The motor voltage increases linearly with the frequency until the base frequency is reached. From this value on,
the motor voltage remains constant, the speed increases and the maximum torque decreases. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automatically. An automatic detection via the motor parameter identification is possible as well.
Setting range (min. value | unit | max. value) Lenze setting
7.5 Hz 2600.0 50.0 Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00016 | VFC: Vmin boostData type: UNSIGNED_16
Index: 24559d = 5FEFh
Boost of the V/f voltage characteristic within a small speed or frequency range for VFCplus mode • This may increase the starting torque. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automatically. An automatic detection via the motor parameter identification is possible as well.Motor control (MCTRL): Setting Vmin boost
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 1.60 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00018
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C00018
C00019
C00021
Parameter | Name:
C00018 | Switching frequencyData type: UNSIGNED_8
Index: 24557d = 5FEDh
Selection of the pulse width modulated switching frequency transferred from the inverter to the motor • You can choose between a drive-optimised setting for good smooth-running characteristics and an inverter loss-
optimised setting (min. Pv). • For these options, you can, in turn, choose between fixed and variable switching frequencies. • When a variable switching frequency is selected, the switching frequency may change as a function of the load
and rotational frequency.
Selection list (Lenze setting printed in bold)
1 4 kHz var./drive-optimised
2 8 kHz var./drive-optimised
3 16 kHz var./drive-optimised
5 2 kHz constant/drive-optimised
6 4 kHz constant/drive-optimised
7 8 kHz constant/drive-optimised
8 16 kHz constant/drive-optimised
11 4 kHz var./min. Pv
12 8 kHz var./min. Pv
13 16 kHz var./min. Pv
15 2 kHz constant/min. Pv
16 4 kHz constant/min. Pv
17 8 kHz constant/min. Pv
18 16 kHz constant/min. Pv
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00019 | Auto-DCB: ThresholdData type: UNSIGNED_16
Index: 24556d = 5FECh
Setpoint speed threshold for the automatic DC injection brake • For speed setpoints with values below the thresholds a DC current is injected or the motor is not supplied with
current, depending on the setting.
Setting range (min. value | unit | max. value) Lenze setting
0 rpm 60000 3 rpm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00021 | Slip compensationData type: INTEGER_16Index: 24554d = 5FEAh
Slip compensation for VFCplus and SLVC modes • An increase of the slip compensation causes a greater frequency and voltage increase when the machine is
loaded. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automatically. An automatic detection via the motor parameter identification is possible as well.Motor control (MCTRL): Optimising the operational performance by slip compensation
Setting range (min. value | unit | max. value) Lenze setting
-100.00 % 100.00 2.67 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
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Parameter list | C00022
C00022
C00023
C00024
C00026
C00027
Parameter | Name:
C00022 | Imax in motor modeData type: UNSIGNED_16
Index: 24553d = 5FE9h
Maximum current in motor mode for all operating modes
Setting range (min. value | unit | max. value) Lenze setting
0.00 a 655.35 47.00 A
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00023 | Imax in generator modeData type: INTEGER_16
Index: 24552d = 5FE8h
Maximum current in generator mode for all operating modes • 100 % ≡ Imax in motor mode (C00022)
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 100.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00024 | Comparison value N_ActData type: INTEGER_16
Index: 24551d = 5FE7h
Threshold for the actual speed comparison • This parameter serves to set a threshold that is compared with the actual speed value. • When the value falls below this threshold, the bNactCompare output of the SB LS_DriveInterface switches to
TRUE. • Switching hysteresis = +1 %
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 199.99 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00026 | AINx: OffsetData type: INTEGER_16
Index: 24549d = 5FE5h
Offset for analog inputsI/O terminals
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00026/1 0.00 % AIN1: offset
C00026/2 0.00 % AIN2: offset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00027 | AINx: GainData type: INTEGER_32
Index: 24548d = 5FE4h
Gain for analog inputsI/O terminals
Setting range (min. value | unit | max. value)
-100.0000 100.0000
Subcodes Lenze setting Information
C00027/1 1.0000 AIN1: gain
C00027/2 1.0000 AIN2: gain
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
8400 HighLine C | Software ManualParameter referenceParameter list | C00028
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C00028
C00029
C00033
Parameter | Name:
C00028 | AINx: Input voltageData type: INTEGER_16
Index: 24547d = 5FE3h
Display of the input voltage at the analog inputsI/O terminals
Display range (min. value | unit | max. value)
-10.00 V 10.00
Subcodes Information
C00028/1 AIN1: input voltage
C00028/2 AIN2: input voltage
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00029 | AINx: Input currentData type: INTEGER_16
Index: 24546d = 5FE2h
Display of the input current at the analog inputs • When the corresponding analog input is configured for current measurement (C00034/x = 1 or 2). • When C00034/x is set = 2 (4 ... 20 mA), 0 ... 16 mA is displayed.
I/O terminals
Display range (min. value | unit | max. value)
0.00 mA 20.00
Subcodes Information
C00029/1 AIN1: input current
C00029/2 AIN2: input current
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00033 | AINx: Output valueData type: INTEGER_16Index: 24542d = 5FDEh
Display of the output value in percent of the analog input amplifier • 100 % ≡ 16384 ≡ +10 V / +20 mA
I/O terminals
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00033/1 AIN1: output value
C00033/2 AIN2: output value
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
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Parameter list | C00034
C00034
C00036
C00039
Parameter | Name:
C00034 | AINx: ConfigurationData type: UNSIGNED_8
Index: 24541d = 5FDDh
Configuration of the analog inputs for current or voltage measurementI/O terminals
Selection list Information
0 -10V..+10V Input signal is the voltage signal -10 V ... +10 V • -10 V ... +10 V ≡ -100 % ... +100 %
1 0mA..20mA Input signal is the current signal 0 mA ... 20 mA • 0 mA ... 20 mA ≡ 0 % ... +100 %
2 4mA..20mA Input signal is the current signal 4 mA ... 20 mA • 4 mA ... 20 mA ≡ 0 % ... +100 % • The current loop is monitored for open circuit
(I < 4 mA) by the device.
Subcodes Lenze setting Information
C00034/1 0: -10V..+10V AIN1: config.
C00034/2 0: -10V..+10V AIN2: config.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00036 | DCB: CurrentData type: INTEGER_16Index: 24539d = 5FDBh
Current value in [%] for DC-injection braking • 100 % ≡ Imax in motor mode (C00022)
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 200.00 50.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00039 | Fixed setpoint x (L_NSet_1 n-Fix)Data type: INTEGER_16Index: 24536d = 5FD8h
FB L_NSet_1: Fixed speed setpoints (JOG values) for the setpoint generator
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00039/1 40.00 % Fixed setpoint 1
C00039/2 60.00 % Fixed setpoint 2
C00039/3 80.00 % Fixed setpoint 3
C00039/4 0.00 % Fixed setpoint 4
C00039/5 0.00 % Fixed setpoint 5
C00039/6 0.00 % Fixed setpoint 6
C00039/7 0.00 % Fixed setpoint 7
C00039/8 0.00 % Fixed setpoint 8
C00039/9 0.00 % Fixed setpoint 9
C00039/10 0.00 % Fixed setpoint 10
C00039/11 0.00 % Fixed setpoint 11
C00039/12 0.00 % Fixed setpoint 12
C00039/13 0.00 % Fixed setpoint 13
C00039/14 0.00 % Fixed setpoint 14
C00039/15 0.00 % Fixed setpoint 15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00050
616 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00050
C00051
C00052
C00053
C00054
Parameter | Name:
C00050 | MCTRL: Speed setpointData type: INTEGER_32Index: 24525d = 5FCDh
Display of the speed setpoint at the speed setpoint input of the motor control
Display range (min. value | unit | max. value)
-60000 rpm 60000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00051 | MCTRL: Actual speed valueData type: INTEGER_32Index: 24524d = 5FCCh
Display of the actual speed value of the motor shaft
Note:The displayed value only corresponds to the real actual speed value of the motor shaft if an encoder is connected to the motor and the evaluation of the feedback signal has been set correctly ("Closed loop" operation).In case of operation without speed feedback, the signal is calculated from the motor control and thus may not correspond to the real actual speed.
Display range (min. value | unit | max. value)
-60000 rpm 60000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00052 | Motor voltageData type: UNSIGNED_16
Index: 24523d = 5FCBh
Display of the current motor voltage/output voltage of the inverter
Display range (min. value | unit | max. value)
0 V 1000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00053 | DC-bus voltageData type: UNSIGNED_16
Index: 24522d = 5FCAh
Display of the current DC-bus voltage
Display range (min. value | unit | max. value)
0 V 1000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00054 | Motor currentData type: UNSIGNED_16
Index: 24521d = 5FC9h
Display of the current motor current/output current of the inverter
Display range (min. value | unit | max. value)
0.00 a 300.00
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 617
8400 HighLine C | Software ManualParameter reference
Parameter list | C00056
C00056
C00057
C00058
C00059
C00061
Parameter | Name:
C00056 | TorqueData type: INTEGER_32Index: 24519d = 5FC7h
Display of the current torque
Display range (min. value | unit | max. value)
-65000.00 Nm 65000.00
Subcodes Information
C00056/1 Torque setpoint • Only for SLVC and SC modes.
C00056/2 Actual torque • Estimated actual torque for all operating modes.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00057 | Maximum torqueData type: UNSIGNED_32
Index: 24518d = 5FC6h
Display of the maximum torque to be generated by the motor • The maximum torque to be generated by the motor depends on various factors, e.g. on Imax in motor mode
(C00022) and the motor type used.
Display range (min. value | unit | max. value)
0.00 Nm 65000.00
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00058 | Output frequencyData type: INTEGER_32Index: 24517d = 5FC5h
Display of the current output frequency
Display range (min. value | unit | max. value)
-1300.00 Hz 1300.00
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00059 | Appl.: Reference frequency C11Data type: UNSIGNED_32
Index: 24516d = 5FC4h
Display of the field frequency which corresponds to the reference speed set in C00011.
Display range (min. value | unit | max. value)
0.00 Hz 1300.00
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00061 | Heatsink temperatureData type: INTEGER_16Index: 24514d = 5FC2h
Display of the current heatsink temperature
Display range (min. value | unit | max. value)
-50 °C 150
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00064
618 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00064
C00065
C00066
C00070
Parameter | Name:
C00064 | Device utilisation (Ixt)Data type: INTEGER_16
Index: 24511d = 5FBFh
Display of the device utilisation Ixt in different time resolutions • If the value displayed here exceeds the threshold set in C00123, the fault message "OC5: Device overload (Ixt)"
is output and the fault response set in C00604 is executed (default setting: "Warning").
Display range (min. value | unit | max. value)
0.00 % 250.00
Subcodes Information
C00064/1 Device utilisation (Ixt) • Maximum value of the pulse utilisation (C00064/2)
and permanent utilisation (C00064/3).
C00064/2 Device utilisation (Ixt) 15s • Pulse utilisation over the last 15 seconds (only for
loads >160 %).
C00064/3 Device utilisation (Ixt) 3 min • Permanent utilisation over the last 3 minutes.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00065 | 24 V supply voltageData type: INTEGER_16
Index: 24510d = 5FBEh
Display of the 24V supply voltage for the supply of the control electronics
Note:The 24 V supply for the control electronics is either provided by an external supply or by the controller itself if it is connected to the mains voltage.
Display range (min. value | unit | max. value)
0.0 V 3276.7
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00066 | Thermal motor load (I²xt)Data type: INTEGER_16Index: 24509d = 5FBDh
Display of the thermal motor load being detected sensorless via a motor model • If the value displayed here exceeds the threshold set in C00120, the fault message "OC6: Thermal motor overload
(I2xt)" is output and the fault response set in C00606 is executed (default setting: "Warning").
Display range (min. value | unit | max. value)
0.00 % 199.99
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00070 | Vp speed controllerData type: UNSIGNED_16
Index: 24505d = 5FB9h
Gain factor Vp of the speed controller for different operating modes
Setting range (min. value | unit | max. value)
0.00 600.00
Subcodes Lenze setting Information
C00070/1 15.00 SLVC: Vp speed controller
C00070/2 6.00 SC: Vp speed controller
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 619
8400 HighLine C | Software ManualParameter reference
Parameter list | C00071
C00071
C00072
C00073
C00074
C00075
Parameter | Name:
C00071 | Ti speed controllerData type: UNSIGNED_16
Index: 24504d = 5FB8h
Reset time Ti of the speed controller for different operating modes
Setting range (min. value | unit | max. value)
0.0 ms 6000.0
Subcodes Lenze setting Information
C00071/1 100.0 ms SLVC: Ti speed controller
C00071/2 50.0 ms SC: Ti speed controller
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00072 | SC: Tdn speed controllerData type: UNSIGNED_16
Index: 24503d = 5FB7h
Differential time constant Tdn of the speed controller for SC (servo control) mode
Setting range (min. value | unit | max. value) Lenze setting
0.00 ms 3.00 0.00 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00073 | Imax/M controller gainData type: UNSIGNED_16
Index: 24502d = 5FB6h
Gain factor Vp of certain controllers for different operating modes
Setting range (min. value | unit | max. value)
0.00 16.00
Subcodes Lenze setting Information
C00073/1 0.25 VFC: Vp Imax controller • After the motor to be used has been selected from the
motor catalogue, the suitable value can be entered automaticaly.
C00073/2 1.25 SLVC: Vp torque controller
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00074 | Imax/M controller reset timeData type: UNSIGNED_16
Index: 24501d = 5FB5h
Reset time Ti of certain controllers for different operating modes
Setting range (min. value | unit | max. value)
0 ms 9990
Subcodes Lenze setting Information
C00074/1 65 ms VFC: Ti Imax controller
C00074/2 30 ms SLVC: Ti torque controller
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00075 | Vp current controllerData type: UNSIGNED_16
Index: 24500d = 5FB4h
Gain factor Vp of the current controller for SC (servo control) mode and certain inverter functions (parameter identification, flying restart circuit) • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automaticaly.
Setting range (min. value | unit | max. value) Lenze setting
0.00 V/A 500.00 7.00 V/A
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00076
620 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00076
C00077
C00078
C00079
Parameter | Name:
C00076 | Ti current controllerData type: UNSIGNED_16
Index: 24499d = 5FB3h
Reset time Ti of the current controller for SC (servo control) mode and certain inverter functions (parameter identification, flying restart circuit) • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automaticaly.
Setting range (min. value | unit | max. value) Lenze setting
0.00 ms 500.00 10.61 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00077 | SC: Vp field controllerData type: UNSIGNED_16
Index: 24498d = 5FB2h
Gain factor Vp of the field controller for SC (servo control) mode • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automaticaly.
Setting range (min. value | unit | max. value) Lenze setting
0.00 500.00 12.80
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00078 | SC: Tn field controllerData type: UNSIGNED_16
Index: 24497d = 5FB1h
Reset time Tn of the field controller for SC (servo control) mode • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automaticaly.
Setting range (min. value | unit | max. value) Lenze setting
0.1 ms 6000.0 256.0 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00079 | SC: SettingsData type: UNSIGNED_8
Index: 24496d = 5FB0h
Configuration of different options for SC (servo control) mode
Selection list
0 Off
1 On
Subcodes Lenze setting Information
C00079/1 0: Off SC: Current controller - feedforward control • Feedforward control/decoupling network of the
current controller.
C00079/2 1: On SC: adapt. field weakening controller • Speed-dependent adaptive field weakening
controller.
C00079/3 0: Off SC: n-Ctrl Anti-Wind-Up • "Anti-wind-up" effect of the speed controller in case
of an output voltage limitation in the field weakening range.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 621
8400 HighLine C | Software ManualParameter reference
Parameter list | C00080
C00080
C00081
C00082
C00083
C00084
Parameter | Name:
C00080 | Override point of field weakeningData type: INTEGER_16Index: 24495d = 5FAFh
Shifting of the override point for the field weakening function • In the VFCplus mode, the stall protection function or the max. permissible current in the field weakening range
can be adapted.
Setting range (min. value | unit | max. value) Lenze setting
-500 Hz 500 0 Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00081 | Rated motor powerData type: UNSIGNED_16
Index: 24494d = 5FAEh
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.
Note:It is mandatory to give the rated motor power for the field-oriented operating modes (SLVC and SC).
Setting range (min. value | unit | max. value) Lenze setting
0.00 kW 500.00 11.00 kW
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00082 | Motor rotor resistanceData type: UNSIGNED_32
Index: 24493d = 5FADh
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.
Setting range (min. value | unit | max. value) Lenze setting
0 mOhm 200000 276 mOhm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00083 | Motor - rotor time constantData type: UNSIGNED_16
Index: 24492d = 5FACh
Display of the rotor time constant of the motor • This value is calculated from the rotor resistance and the rotor inductance (leakage and magnetising
inductance).
Display range (min. value | unit | max. value)
0 ms 32767
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00084 | Motor stator resistanceData type: UNSIGNED_32
Index: 24491d = 5FABh
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.
Setting range (min. value | unit | max. value) Lenze setting
0 mOhm 200000 330 mOhm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00085
622 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00085
C00087
C00088
C00089
C00090
Parameter | Name:
C00085 | Motor stator leakage inductanceData type: UNSIGNED_16
Index: 24490d = 5FAAh
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.
Setting range (min. value | unit | max. value) Lenze setting
0.00 mH 650.00 3.50 mH
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00087 | Rated motor speedData type: UNSIGNED_16
Index: 24488d = 5FA8h
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.
Note:It is mandatory to give the rated motor speed for the field-oriented operating modes (SLVC and SC).
Setting range (min. value | unit | max. value) Lenze setting
50 rpm 60000 1460 rpm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00088 | Rated motor currentData type: UNSIGNED_16
Index: 24487d = 5FA7h
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.
Setting range (min. value | unit | max. value) Lenze setting
0.20 a 320.00 21.00 A
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00089 | Rated motor frequencyData type: UNSIGNED_16
Index: 24486d = 5FA6h
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.
Note:It is mandatory to give the rated motor frequency for the field-oriented operating modes (SLVC and SC).
Setting range (min. value | unit | max. value) Lenze setting
1 Hz 1000 50 Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00090 | Rated motor voltageData type: UNSIGNED_16
Index: 24485d = 5FA5h
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.
Setting range (min. value | unit | max. value) Lenze setting
0 V 1000 400 V
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 623
8400 HighLine C | Software ManualParameter reference
Parameter list | C00091
C00091
C00092
C00093
C00095
C00097
C00098
Parameter | Name:
C00091 | Motor cosine phiData type: UNSIGNED_8
Index: 24484d = 5FA4h
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.
Setting range (min. value | unit | max. value) Lenze setting
0.40 1.00 0.85
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00092 | Motor magnetizing inductanceData type: UNSIGNED_16
Index: 24483d = 5FA3h
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.
Setting range (min. value | unit | max. value) Lenze setting
0.0 mH 6500.0 81.0 mH
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00093 | Power section IDData type: UNSIGNED_16
Index: 24482d = 5FA2h
Display of the identification of the detected power section for the frequency inverter
Display range (min. value | unit | max. value)
0 65535
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00095 | Motor magnetising currentData type: UNSIGNED_16
Index: 24480d = 5FA0h
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.
Setting range (min. value | unit | max. value) Lenze setting
0.00 a 320.00 8.50 A
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00097 | Rated motor torqueData type: UNSIGNED_32
Index: 24478d = 5F9Eh
Display of the rated motor torque • The value displayed here is calculated from different parameters, e.g. the maximum current set in C00022.
Display range (min. value | unit | max. value)
0.00 Nm 65535.00
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00098 | Rated device currentData type: UNSIGNED_16
Index: 24477d = 5F9Dh
Display of the rated inverter current which is defined by the integrated power section.
Display range (min. value | unit | max. value)
0.0 a 6000.0
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
8400 HighLine C | Software ManualParameter referenceParameter list | C00099
624 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00099
C00100
C00101
C00103
C00105
Parameter | Name:
C00099 | Firmware versionData type: VISIBLE_STRING
Index: 24476d = 5F9Ch
Display of the firmware version of the device as string
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00100 | Firmware versionData type: UNSIGNED_8
Index: 24475d = 5F9Bh
Display of the firmware version of the device, divided into subsections.
Display range (min. value | unit | max. value)
0 99
Subcodes Information
C00100/1 Firmware version primary status
C00100/2 Firmware version secondary status
C00100/3 Firmware version release
C00100/4 Firmware version build
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00101 | Add. acceleration time xData type: UNSIGNED_32
Index: 24474d = 5F9Ah
FB L_NSet_1: Additional acceleration times for the main setpoint • The additional acceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.
Setting range (min. value | unit | max. value)
0.000 s 999.999
Subcodes Lenze setting Information
C00101/1 0.000 s Additional acceleration time 1 ... 15
C00101/...
C00101/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00103 | Add. deceleration time xData type: UNSIGNED_32
Index: 24472d = 5F98h
FB L_NSet_1: Additional deceleration times for the main setpoint • The additional deceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.
Setting range (min. value | unit | max. value)
0.000 s 999.999
Subcodes Lenze setting Information
C00103/1 0.000 s Additional deceleration time 1 ... 15
C00103/...
C00103/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00105 | Deceleration time - quick stopData type: UNSIGNED_32
Index: 24470d = 5F96h
The set deceleration time determines the ramp slope at quick stop
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.900 2.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 625
8400 HighLine C | Software ManualParameter reference
Parameter list | C00106
C00106
C00107
C00114
Parameter | Name:
C00106 | Auto-DCB: hold timeData type: UNSIGNED_32
Index: 24469d = 5F95h
Hold time of the automatic DC injection brake • The DC injection brake is applied for the time set here if the value falls below the speed setpoint set in C00019.
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.000 0.500 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00107 | DCB: hold timeData type: UNSIGNED_32
Index: 24468d = 5F94h
Maximum hold time of the manual DC injection brake • In order not to overload the motor thermally, a time for automatic switch-off of the DC injection brake can be set
here.
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.000 999.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00114 | DI polarityData type: UNSIGNED_16
Index: 24461d = 5F8Dh
Polarity of the digital inputs • Every digital input of the device can be inverted with regard to polarity via this bit field.
I/O terminals
Setting range (min. hex value | max. hex value) Lenze setting
0x0000 0xFFFF 0x0000 (decimal: 0)
Value is bit-coded: ( = bit set) Information
Bit 0 Invert DI1 Inversion of digital input 1
Bit 1 Invert DI2 Inversion of digital input 2
Bit 2 Invert DI3 Inversion of digital input 3
Bit 3 Invert DI4 Inversion of digital input 4
Bit 4 Invert DI5 Inversion of digital input 5
Bit 5 Invert DI6 Inversion of digital input 6
Bit 6 Invert DI7 Inversion of digital input 7
Bit 7 Reserve
Bit 8 Reserve
Bit 9 Reserve
Bit 10 Reserve
Bit 11 Reserve
Bit 12 Reserve
Bit 13 Reserve
Bit 14 Reserve
Bit 15 Invert CInh Inversion of digital input CInh (controller inhibit)
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00115
626 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00115
C00117
C00118
Parameter | Name:
C00115 | Fct. DI 1/2 & 6/7Data type: UNSIGNED_8
Index: 24460d = 5F8Ch
Function assignment of the digital inputs DI1/2 and DI6/7I/O terminals
Selection list Information
0 DI1(6)=In / DI2(7)=In DI1/6 = digital inputDI2/7 = digital input
1 DI1(6)=FreqIn / DI2(7)=In DI1/6 = single-track frequency inputDI2/7 = digital input
2 DI1(6)&DI2(7)=FreqIn (2-track) DI1/6 und DI2/7 = two-track frequency input
3 DI1(6)=FreqIn / DI2(7)=direction DI1/6 = single-track frequency inputDI2/7 = direction
4 DI1(6)=CountIn / DI2(7)=In DI1/6 = counter inputDI2/7 = digital input
Subcodes Lenze setting Information
C00115/1 0: DI1(6)=In / DI2(7)=In Function assignment of DI1 and DI2
C00115/2 0: DI1(6)=In / DI2(7)=In Function assignment of DI6 and DI7
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00117 | Status - brake output BDData type: UNSIGNED_8
Index: 24458d = 5F8Ah
Status message of brake output
Selection list (read only) Information
0 inactive Brake output is inactive
1 active Brake output is active
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00118 | DOx inversionData type: UNSIGNED_8
Index: 24457d = 5F89h
Polarity of the digital outputs • Every digital output of the device can be inverted with regard to polarity via this bit field.
I/O terminals
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x00 (decimal: 0)
Value is bit-coded: ( = bit set) Information
Bit 0 Relay inverted Relay inversion
Bit 1 DO1 inverted Inversion of digital output 1
Bit 2 DO2 inverted Inversion of digital output 2
Bit 3 DO3 inverted Inversion of digital output 3
Bit 4 High current inverted Inversion of high-current output
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 627
8400 HighLine C | Software ManualParameter reference
Parameter list | C00120
C00120
C00123
C00129
C00130
C00131
C00133
Parameter | Name:
C00120 | Motor overload threshold (I²xt)Data type: INTEGER_16Index: 24455d = 5F87h
Operating threshold for the error message "OC6: Motor overload (I²xt)" • The response for reaching the threshold can be selected in C00606. • The current thermal motor load is displayed in C00066.
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 250.00 100.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00123 | Device utilisat. threshold (Ixt)Data type: INTEGER_16Index: 24452d = 5F84h
Operating threshold for the error message "OC5: Device overload (Ixt)" • The response for reaching the threshold can be selected in C00604. • The current device utilisation is displayed in C00064.
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 200.00 100.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00129 | Brake resistance valueData type: UNSIGNED_16
Index: 24446d = 5F7Eh
As of version 02.00.00Resistance value of the connected brake resistor • The value to be entered can be obtained from the nameplate of the brake resistor.
Setting range (min. value | unit | max. value) Lenze setting
0.0 Ohm 500.0 39.0 Ohm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00130 | Rated brake resistor powerData type: UNSIGNED_16
Index: 24445d = 5F7Dh
As of version 02.00.00Rated power of the connected brake resistor • The value to be entered can be obtained from the nameplate of the brake resistor.
Setting range (min. value | unit | max. value) Lenze setting
0 w 65535 100 W
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00131 | Thermal capacity of brake resistorData type: UNSIGNED_16
Index: 24444d = 5F7Ch
Thermal capacity of the connected brake resistor • The value to be entered can be obtained from the nameplate of the brake resistor.
Setting range (min. value | unit | max. value) Lenze setting
0.0 kWs 6553.5 10.0 kWs
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00133 | Brake resistor utilisationData type: UNSIGNED_16
Index: 24442d = 5F7Ah
Display of the utilisation of the connected brake resistor
Display range (min. value | unit | max. value)
0 % 65535
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00134
628 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00134
C00136
Parameter | Name:
C00134 | Ramp rounding main setpointData type: UNSIGNED_8
Index: 24441d = 5F79h
Configuration of the ramp rounding for the main setpoint
Selection list (Lenze setting printed in bold) Information
0 Off Ramp rounding deactivated
1 PT1 behaviour Ramp rounding with PT1 behaviour • The corresponding S-ramp time must be set in
C00182.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00136 | Communication control wordsData type: UNSIGNED_16
Index: 24439d = 5F77h
Control words of the communication interfaces
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 SwitchOn
Bit 1 DisableVoltage
Bit 2 SetQuickStop
Bit 3 EnableOperation
Bit 4 ModeSpecific_1
Bit 5 ModeSpecific_2
Bit 6 ModeSpecific_3
Bit 7 ResetFault
Bit 8 SetHalt
Bit 9 reserved_1
Bit 10 reserved_2
Bit 11 LenzeSpecific_1
Bit 12 LenzeSpecific_2
Bit 13 LenzeSpecific_3
Bit 14 SetFail
Bit 15 LenzeSpecific_4
Subcodes Information
C00136/1 MCI control word • Control word of the communication interface MCI
(communication module)
C00136/2 CAN control word • Control word of the communication interface CAN
(CAN on board)
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 629
8400 HighLine C | Software ManualParameter reference
Parameter list | C00137
C00137Parameter | Name:
C00137 | Device stateData type: UNSIGNED_16
Index: 24438d = 5F76h
Display of the current device state
Selection list (read only)
0 FirmwareUpdate
1 Init
2 MotorIdent
3 ReadyToSwitchON
4 SwitchedON
5 OperationEnable
6 Warning
7 Trouble
8 Fault
9 TroubleQSP
10 SafeTorqueOff
11 SystemFail
12 reserved_1
13 reserved_2
14 reserved_3
15 reserved_4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00138
630 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00138
C00142
Parameter | Name:
C00138 | Internal control signalsData type: UNSIGNED_16
Index: 24437d = 5F75h
Bit-coded display of internal control signals from different sources
Display area (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 DisableVoltage
Bit 2 SetQuickStop
Bit 3 EnableOperation
Bit 4 InitFinishedOK
Bit 5 ModeSpecific_2
Bit 6 ModeSpecific_3
Bit 7 ResetFault
Bit 8 SetHalt
Bit 9 FirmwareUpdate
Bit 10 MotorIdent
Bit 11 SetMessage
Bit 12 SetIMP
Bit 13 SetSystemFail
Bit 14 SetFail
Bit 15 SetFailQSP
Subcodes Information
C00138/1 SYS control signals
C00138/2 MCK control signals
C00138/3 FWM control signals
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00142 | Auto-start optionData type: UNSIGNED_8
Index: 24433d = 5F71h
Setting of the "Auto-start" function • When inhibit is activated, the motor can only start after the device state has changed.
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x09 (decimal: 9)
Value is bit-coded: ( = bit set)
Bit 0 Inhibit when device is on
Bit 1 Inhibit at trouble
Bit 2 Inhibit at fault
Bit 3 Inhibit at undervoltage
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 631
8400 HighLine C | Software ManualParameter reference
Parameter list | C00144
C00144
C00150
Parameter | Name:
C00144 | Switching freq. reduct. (temp.)Data type: UNSIGNED_8
Index: 24431d = 5F6Fh
Activation of the automatic switching frequency reductionat too high temperature
Selection list (Lenze setting printed in bold) Information
0 Off Automatic switching frequency reduction deactivated
1 On Automatic switching frequency reduction activated
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00150 | Status wordData type: UNSIGNED_16
Index: 24425d = 5F69h
Bit-coded device status word
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 FreeStatusBit0 Free status bit 0
Bit 1 PowerDisabled Power switched off
Bit 2 FreeStatusBit2 Free status bit 2
Bit 3 FreeStatusBit3 Free status bit 3
Bit 4 FreeStatusBit4 Free status bit 4
Bit 5 FreeStatusBit5 Free status bit 5
Bit 6 ActSpeedIsZero Current speed is 0
Bit 7 ControllerInhibit Controller is inhibited
Bit 8 StatusCodeBit0 Status code bit 0
Bit 9 StatusCodeBit1 Status code bit 1
Bit 10 StatusCodeBit2 Status code bit 2
Bit 11 StatusCodeBit3 Status code bit 3
Bit 12 Warning Warning
Bit 13 Trouble Fault
Bit 14 FreeStatusBit14 Free status bit 14
Bit 15 FreeStatusBit15 Free status bit 15
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00155
632 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00155Parameter | Name:
C00155 | Status word 2Data type: UNSIGNED_16
Index: 24420d = 5F64h
Bit-coded device status word2
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 Fail Fail
Bit 1 M_max Maximum torque
Bit 2 I_max Maximum current
Bit 3 PowerDisabled Power switched off
Bit 4 Ready Ready
Bit 5 ControllerInhibit Controller is inhibited
Bit 6 Trouble Fault
Bit 7 InitState InitState
Bit 8 CwCcw CW/CCW rotation
Bit 9 TroubleQSP Quick stop because of fault active
Bit 10 SafeTorqueOff Safe torque off
Bit 11 AplicationRunning Application is running
Bit 12 AplParSetBit0 Application parameter set - bit 0
Bit 13 AplParSetBit1 Application parameter set - bit 1
Bit 14 Quick stop Quick stop is active
Bit 15 Motorpar. Ident. Motor parameter identification active
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 633
8400 HighLine C | Software ManualParameter reference
Parameter list | C00158
C00158Parameter | Name:
C00158 | Cause of controller inhibitData type: UNSIGNED_16
Index: 24417d = 5F61h
Bit-coded display of the cause/source of controller inhibit
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Terminal controller enable
Bit 1 CAN control word
Bit 2 MCI control word
Bit 3 SwitchOn
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal signal
Bit 8 Reserved
Bit 9 Reserved
Bit 10 AutoStartLock
Bit 11 Motorpar. Ident.
Bit 12 Automatic brake operation
Bit 13 DCB-IMP
Bit 14 Reserved
Bit 15 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00159
634 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00159
C00161
Parameter | Name:
C00159 | Cause for quick stop QSPData type: UNSIGNED_16
Index: 24416d = 5F60h
Bit-coded display of the cause/source of quick stop
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 CAN control word
Bit 2 MCI control word
Bit 3 Reserved
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal signal
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Operating system
Bit 11 Reserved
Bit 12 MCK
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00161 | LS_SetError_x: Error numberData type: UNSIGNED_16
Index: 24414d = 5F5Eh
LS_SetError_1-2 SB: Individual error number
Setting range (min. value | unit | max. value)
0 65535
Subcodes Lenze setting Information
C00161/1 1 LS_SetError_1: error no.1
C00161/2 2 LS_SetError_1: error no.2
C00161/3 3 LS_SetError_1: error no.3
C00161/4 4 LS_SetError_1: error no.4
C00161/5 1 LS_SetError_2: error no.1
C00161/6 2 LS_SetError_2: error no.2
C00161/7 3 LS_SetError_2: error no.3
C00161/8 4 LS_SetError_2: error no.4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 635
8400 HighLine C | Software ManualParameter reference
Parameter list | C00163
C00163Parameter | Name:
C00163 | Logbook - binary elementsData type: UNSIGNED_16
Index: 24412d = 5F5Ch
Selection of two binary signals that are to be logged in the logbook.
Selection list Information
0 No signal
1 DI1: Input signal
2 DI2: Input signal
3 DI3: Input signal
4 DI4: Input signal
5 Controller inhibit signal
6 Digital counter: Comparison bit
7 CAN1 Input bit 0
8 CAN1 Input bit 1
9 CAN1 Input bit 2
10 CAN1 Input bit 3
11 CAN1 Input bit 4
12 CAN1 Input bit 5
13 CAN1 Input bit 6
14 CAN1 Input bit 7
15 CAN1 Input bit 8
16 CAN1 Input bit 9
17 CAN1 Input bit 10
18 CAN1 Input bit 11
19 CAN1 Input bit 12
20 CAN1 Input bit 13
21 CAN1 Input bit 14
22 CAN1 Input bit 15
23 CAN2 Input bit 0
24 CAN2 Input bit 1
25 CAN2 Input bit 2
26 CAN2 Input bit 3
27 CAN2 Input bit 4
28 CAN2 Input bit 5
29 CAN2 Input bit 6
30 CAN2 Input bit 7
31 CAN2 Input bit 8
32 CAN2 Input bit 9
33 CAN2 Input bit 10
34 CAN2 Input bit 11
35 CAN2 Input bit 12
36 CAN2 Input bit 13
37 CAN2 Input bit 14
38 CAN2 Input bit 15
39 CAN3 Input bit 0
40 CAN3 Input bit 1
41 CAN3 Input bit 2
8400 HighLine C | Software ManualParameter referenceParameter list | C00163
636 L Firmware 02.00 - DMS EN 3.0 - 05/2009
42 CAN3 Input bit 3
43 CAN3 Input bit 4
44 CAN3 Input bit 5
45 CAN3 Input bit 6
46 CAN3 Input bit 7
47 CAN3 Input bit 8
48 CAN3 Input bit 9
49 CAN3 Input bit 10
50 CAN3 Input bit 11
51 CAN3 Input bit 12
52 CAN3 Input bit 13
53 CAN3 Input bit 14
54 CAN3 Input bit 15
55 MCI Word 1 Input bit 0
56 MCI Word 1 Input bit 1
57 MCI Word 1 Input bit 2
58 MCI Word 1 Input bit 3
59 MCI Word 1 Input bit 4
60 MCI Word 1 Input bit 5
61 MCI Word 1 Input bit 6
62 MCI Word 1 Input bit 7
63 MCI Word 1 Input bit 8
64 MCI Word 1 Input bit 9
65 MCI Word 1 Input bit 10
66 MCI Word 1 Input bit 11
67 MCI Word 1 Input bit 12
68 MCI Word 1 Input bit 13
69 MCI Word 1 Input bit 14
70 MCI Word 1 Input bit 15
71 MCI Word 2 Input bit 0
72 MCI Word 2 Input bit 1
73 MCI Word 2 Input bit 2
74 MCI Word 2 Input bit 3
75 MCI Word 2 Input bit 4
76 MCI Word 2 Input bit 5
77 MCI Word 2 Input bit 6
78 MCI Word 2 Input bit 7
79 MCI Word 2 Input bit 8
80 MCI Word 2 Input bit 9
81 MCI Word 2 Input bit 10
82 MCI Word 2 Input bit 11
83 MCI Word 2 Input bit 12
84 MCI Word 2 Input bit 13
85 MCI Word 2 Input bit 14
Parameter | Name:
C00163 | Logbook - binary elementsData type: UNSIGNED_16
Index: 24412d = 5F5Ch
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 637
8400 HighLine C | Software ManualParameter reference
Parameter list | C00164
C00164
86 MCI Word 2 Input bit 15
87 Position controller: Limit
88 Speed controller: Limit
89 Speed setpoint: Limit
90 Torque setpoint: Limit
91 Current setpoint: Limit
92 DC injection brake active
93 Quick stop is active
94 Pulse inhibit is active
95 Controller inhibit is active
96 Safe status active
97 Direction of rotation ccw
98 Actual speed = 0
99 L_Or_1: Out
100 L_DFlipFlop_1: Out
101 L_DigDelay_1: Out
102 L_Compare_1: Out
103 L_Compare_2: Out
104 L_NSet_1: Setpoint reached
105 L_DigitalLogic_1: Out
106 L_SignalMonitor_b: Out1
107 L_SignalMonitor_b: Out2
108 L_SignalMonitor_b: Out3
109 L_SignalMonitor_b: Out4
110 L_PCTRL_1: act=set
Subcodes Lenze setting Information
C00163/1 0: No signal Logbook binary element 1
C00163/2 0: No signal Logbook binary element 2
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00163 | Logbook - binary elementsData type: UNSIGNED_16
Index: 24412d = 5F5Ch
Parameter | Name:
C00164 | Logbook - analog elementsData type: UNSIGNED_16
Index: 24411d = 5F5Bh
Selection of an analog signal that is to be logged in the logbook.
Selection list Information
0 No signal
1 AIN1
2 CAN1 Control word
3 CAN1 Input word 2
4 CAN1 Input word 3
5 CAN1 Input word 4
6 CAN2 Input word 1
7 CAN2 Input word 2
8 CAN2 Input word 3
9 CAN2 Input word 4
8400 HighLine C | Software ManualParameter referenceParameter list | C00164
638 L Firmware 02.00 - DMS EN 3.0 - 05/2009
10 CAN3 Input word 1
11 CAN3 Input word 2
12 CAN3 Input word 3
13 CAN3 Input word 4
14 Digital counter LowWord
15 Digital counter HighWord
16 MCI Word 1
17 MCI word 2
18 MCI Word 3
19 MCI Word 4
20 MCI Word 5
21 MCI Word 6
22 MCI Word 7
23 MCI Word 8
24 MCI Word 9
25 MCI Word 10
26 MCI Word 11
27 MCI Word 12
28 MCI Word 13
29 MCI Word 14
30 MCI Word 15
31 MCI Word 16
32 Current motor speed
33 Current motor torque
34 DC-bus voltage
35 Current motor current
36 Current motor voltage
37 Current motor frequency
38 Effective speed setpoint
39 Device utilisation
40 Motor utilisation
41 L_OffsetGainPar_1: Out
42 L_OffsetGainPar_2: Out
43 L_OffsetGainPar_3: Out
44 L_Aritmethik_1: Out
45 L_AnalogSwitch_1: Out
46 L_NSet_1: Out
47 L_MotorPoti_1: Out
48 L_PCTRL_1: Out
49 L_SignalMonitor_a: Out1
50 L_SignalMonitor_a: Out2
51 L_SignalMonitor_a: Out3
52 L_SignalMonitor_a: Out4
Parameter | Name:
C00164 | Logbook - analog elementsData type: UNSIGNED_16
Index: 24411d = 5F5Bh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 639
8400 HighLine C | Software ManualParameter reference
Parameter list | C00165
C00165
C00166
C00167
C00168
53 L_MulDiv_1: Out
54 L_NSet_1: Target setpoint
Subcodes Lenze setting Information
C00164/1 0: No signal Logbook analog element 1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00164 | Logbook - analog elementsData type: UNSIGNED_16
Index: 24411d = 5F5Bh
Parameter | Name:
C00165 | Error informationData type: VISIBLE_STRING
Index: 24410d = 5F5Ah
Display of the error numbers divided into sectors in the case of an error
Subcodes Information
C00165/1 Status determ. error
C00165/2 Current error
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00166 | Error information textData type: VISIBLE_STRING
Index: 24409d = 5F59h
Display of details on the status determining and the currently pending error
Subcodes Information
C00166/1 Resp.status determ.error • Response of the status determining error
C00166/2 Subj.area status determ.error • Subject area of the status determining error
C00166/3 Mess.status determ.error • Textual message of the status determining error
C00166/4 Resp.curr.error • Response of the currently pending error
C00166/5 Subj.area curr. error • Subject area of the currently pending error
C00166/6 Mess.curr.error • Textual message of the currently pending error
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00167 | Logbook dataData type: OCTET_STRING
Index: 24408d = 5F58h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00168 | Status-determining errorData type: UNSIGNED_32
Index: 24407d = 5F57h
Display of the internal error number for the status-determining error
Display range (min. value | unit | max. value)
0 4294967295
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00169
640 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00169
C00170
C00171
C00173
Parameter | Name:
C00169 | Logbook settingData type: UNSIGNED_16
Index: 24406d = 5F56h
Configuration which message types are to be logged in the logbook.
Setting range (min. hex value | max. hex value) Lenze setting
0x0000 0xFFFF 0x067E (decimal: 1662)
Value is bit-coded: ( = bit set)
Bit 0 Reserved
Bit 1 Log entry: Fault
Bit 2 Log entry: Trouble
Bit 3 Log entry: TroubleQuickstop
Bit 4 Log entry: WarningLocked
Bit 5 Log entry: Warning
Bit 6 Log entry: Information
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Activation: Error counter
Bit 10 Activation: Log line refresh
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00170 | Current errorData type: UNSIGNED_32
Index: 24405d = 5F55h
Display of the internal error number for the currently pending error
Display range (min. value | unit | max. value)
0 4294967295
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00171 | Logbook access indexData type: UNSIGNED_8
Index: 24404d = 5F54h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00173 | Mains voltageData type: UNSIGNED_8
Index: 24402d = 5F52h
Selection of the mains voltage for operating the device.
Selection list (Lenze setting printed in bold) Information
0 3ph 400V / 1ph 230V 3-phase 400 V or 1-phase 230 V
1 3ph 440V / 1ph 230V 3-phase 440 V or 1-phase 230 V
2 3ph 480V / 1ph 230V 3-phase 480 V or 1-phase 230 V
3 3ph 500V / 1ph 230V 3-phase 500 V or 1-phase 230 V
4 3ph 400V / 1ph 115V 3-phase 400 V or 1-phase 115 V
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 641
8400 HighLine C | Software ManualParameter reference
Parameter list | C00174
C00174
C00175
C00177
C00178
Parameter | Name:
C00174 | Reduced brake chopper thresholdData type: UNSIGNED_8
Index: 24401d = 5F51h
The threshold from which on the brake chopper is controlled is reduced by the voltage value set here.
Setting range (min. value | unit | max. value) Lenze setting
0 V 150 0 V
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00175 | Response for brake resistor controlData type: UNSIGNED_8
Index: 24400d = 5F50h
As of version 02.00.00Selection of the response for brake resistor control
Selection list (Lenze setting printed in bold) Information
0 Brake resistor The brake resistor is used. When the threshold voltage (C00174) is exceeded, the brake resistor is energised.
1 MCTRL_bHlgStop The "Ramp function generator stop" signal (MCTRL_bHlgStop) is used. When the threshold voltage is exceeded (C00174), the ramp function generator is stopped.
2 Brake resistor and MCTRL_bHlgStop The brake resistor and the "Ramp function generator stop" signal are used. When the threshold voltage is exceeded (C00174), the brake resistor is energised and the ramp function generator is stopped.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00177 | Switching cyclesData type: UNSIGNED_32
Index: 24398d = 5F4Eh
Counter of different switching cycles and stressful situations
Display range (min. value | unit | max. value)
0 2147483647
Subcodes Information
C00177 /1 Number of mains switching cycles
C00177 /2 Number of switching cycles of the output relay
C00177 /3 Short circuit counter
C00177 /4 Earth fault counter
C00177 /5 "Clamp" counter
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00178 | Elapsed-hour meterData type: UNSIGNED_32
Index: 24397d = 5F4Dh
Display of the operating hours in "seconds" unit
Display range (min. value | unit | max. value)
0 s 2147483647
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00179
642 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00179
C00180
C00182
C00184
C00185
C00186
Parameter | Name:
C00179 | Power-on time meterData type: UNSIGNED_32
Index: 24396d = 5F4Ch
Display of the power-on time in "seconds" unit
Display range (min. value | unit | max. value)
0 s 2147483647
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00180 | Running timeData type: UNSIGNED_32
Index: 24395d = 5F4Bh
Display of different running times in "seconds" unit
Display range (min. value | unit | max. value)
0 s 2147483647
Subcodes Information
C00180/1 Running time - control card
C00180/2 Running time - heatsink fan
C00180/3 Running time - interior fan
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00182 | S-ramp time PT1Data type: INTEGER_16Index: 24393d = 5F49h
PT1 S-ramp time for the main setpoint ramp function generator • Only effective with activated ramp rounding (C00134 = "1").
Setting range (min. value | unit | max. value) Lenze setting
0.01 s 50.00 20.00 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00184 | AutoFailReset repetition timeData type: UNSIGNED_16
Index: 24391d = 5F47h
After the time set here, the error message of an occurred error will be reset automatically when the "AutoFailReset" is configured accordingly in C00188.
Setting range (min. value | unit | max. value) Lenze setting
1 s 600 3 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00185 | AutoFailReset residual runtimeData type: UNSIGNED_16
Index: 24390d = 5F46h
Display of the residual runtime of the "AutoFailReset" function
Display range (min. value | unit | max. value)
0 s 600
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00186 | Max. no. of AutoFailReset proceduresData type: UNSIGNED_8
Index: 24389d = 5F45h
Data of the maximum number of "AutoFailReset" procedures
Setting range (min. value | unit | max. value) Lenze setting
1 16 4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 643
8400 HighLine C | Software ManualParameter reference
Parameter list | C00187
C00187
C00188
C00189
C00190
Parameter | Name:
C00187 | Current AutoFailReset proceduresData type: UNSIGNED_8
Index: 24388d = 5F44h
Data of the current number of "AutoFailReset" procedures
Display range (min. value | unit | max. value)
0 16
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00188 | Configuration AutoFailResetData type: UNSIGNED_8
Index: 24387d = 5F43h
Setting which error messages are to be reset automatically.
Selection list (Lenze setting printed in bold) Information
0 Off No automatic error message reset
1 Fault + TroubleQSP Error messages with the response "Fault" and "TroubleQSP" are reset automatically
2 WarningLocked Error messages with the response "WarningLocked" are reset automatically
3 All locking All "locking" error messages are reset automatically
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00189 | Resp. too frequent AutoFailResetData type: UNSIGNED_8
Index: 24386d = 5F42h
Response to exceeding the maximum number of "AutoFailReset" procedures set in C00186.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00190 | Setpoint arithmeticData type: UNSIGNED_8
Index: 24385d = 5F41h
FB L_NSet_1: Selection of arithmetic • For influencing the main setpoint (NSet) by an additive setpoint (NAdd).
Selection list (Lenze setting printed in bold)
0 NOut = NSet
1 NOut = NSet + NAdd
2 NOut = NSet - NAdd
3 NOut = (NSet * NAdd) / 100%
4 NOut = (NSet * 1%) / |NAdd|
5 NOut = (NSet * 100%) / (100% - NAdd)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00200
644 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00200
C00201
C00203
C00204
Parameter | Name:
C00200 | Firmware product typeData type: VISIBLE_STRING
Index: 24375d = 5F37h
Display of the firmware product type
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00201 | FirmwareData type: VISIBLE_STRING
Index: 24374d = 5F36h
Display of the firmware data of the control card and the power section
Subcodes Information
C00201/1 Firmware type contr. card
C00201/2 Firmware version contr. card
C00201/3 Firmware comp.date contr. card
C00201/4 Firmware type power section
C00201/5 Firmware version power section
C00201/6 Firmware comp.date power section
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00203 | Product type codeData type: VISIBLE_STRING
Index: 24372d = 5F34h
Display of the single device component types
Subcodes Information
C00203/1 Type: control card
C00203/2 Type: power section
C00203/3 Type: MCI module
C00203/4 Reserved
C00203/5 Type: memory module
C00203/6 Type: safety card
C00203/7 Type: standard device
C00203/8 Type: complete device
C00203/9 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00204 | Serial numberData type: VISIBLE_STRING
Index: 24371d = 5F33h
Display of the single device component serial numbers
Subcodes Information
C00204/1 Serial no.: control card
C00204/2 Serial no.: power section
C00204/3 Serial no.: MCI module
C00204/4 Reserved
C00204/5 Serial no.: memory module
C00204/6 Serial no.: safety card
C00204/7 Serial no.: standard device
C00204/8 Serial no.: complete device
C00204/9 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 645
8400 HighLine C | Software ManualParameter reference
Parameter list | C00205
C00205
C00206
C00210
C00220
C00221
C00222
C00223
C00224
Parameter | Name:
C00205 | InfoData type: VISIBLE_STRING
Index: 24370d = 5F32h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00206 | Production dateData type: VISIBLE_STRING
Index: 24369d = 5F31h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00210 | HW versionData type: VISIBLE_STRING
Index: 24365d = 5F2Dh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00220 | Accel. time - add. setpointData type: UNSIGNED_32
Index: 24355d = 5F23h
FB L_NSet_1: Acceleration time for the additional setpoint nNAdd_a
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 0.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00221 | Decel. time - add. setpointData type: UNSIGNED_32
Index: 24354d = 5F22h
FB L_NSet_1: Deceleration time for the additional setpoint nNAdd_a
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 0.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00222 | L_PCTRL_1: VpData type: INTEGER_16Index: 24353d = 5F21h
FB L_PCTRL_1: Amplification factor Vp for the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
0.1 500.0 1.0
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00223 | L_PCTRL_1: TnData type: UNSIGNED_16
Index: 24352d = 5F20h
FB L_PCTRL_1: Reset time Tn for the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
20 ms 6000 400 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00224 | L_PCTRL_1: KdData type: UNSIGNED_16
Index: 24351d = 5F1Fh
FB L_PCTRL_1: Derivative-action coefficient Kd for the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
0.0 5.0 0.0
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
8400 HighLine C | Software ManualParameter referenceParameter list | C00225
646 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00225
C00226
C00227
C00228
C00231
Parameter | Name:
C00225 | L_PCTRL_1: MaxLimitData type: INTEGER_16
Index: 24350d = 5F1Eh
FB L_PCTRL_1: Maximum output value of the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 199.99 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00226 | L_PCTRL_1: MinLimitData type: INTEGER_16Index: 24349d = 5F1Dh
FB L_PCTRL_1: Minimum output value of the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 -199.99 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00227 | L_PCTRL_1: Acceleration timeData type: UNSIGNED_32
Index: 24348d = 5F1Ch
FB L_PCTRL_1: Acceleration time for the output value of the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 0.010 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00228 | L_PCTRL_1: Deceleration timeData type: UNSIGNED_32
Index: 24347d = 5F1Bh
FB L_PCTRL_1: Deceleration time for the output value of the PID process controller
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 0.010 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00231 | L_PCTRL_1: Operating rangeData type: INTEGER_16Index: 24344d = 5F18h
FB L_PCTRL_1: Operating range for the PID process controller
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00231/1 199.99 % L_PCTRL_1: Pos. Maximum
C00231/2 0.00 % L_PCTRL_1: Pos. Minimum
C00231/3 0.00 % L_PCTRL_1: Neg. Minimum
C00231/4 199.99 % L_PCTRL_1: Neg. Maximum
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 647
8400 HighLine C | Software ManualParameter reference
Parameter list | C00233
C00233
C00234
C00235
C00236
C00241
Parameter | Name:
C00233 | L_PCTRL_1: Root functionData type: UNSIGNED_8
Index: 24342d = 5F16h
FB L_PCTRL_1: Use of the root function at the actual value input
Selection list (Lenze setting printed in bold) Information
0 Off Root function inactive • The actual value nAct_a is not changed for further
processing.
1 On Root function active • The square root of the actual value nAct_a is taken for
further processing.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00234 | Oscillation damping influenceData type: UNSIGNED_16
Index: 24341d = 5F15h
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 250.00 5.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00235 | Filter time - oscill. dampingData type: UNSIGNED_8
Index: 24340d = 5F14h
Setting range (min. value | unit | max. value) Lenze setting
2 ms 250 32 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00236 | Oscill. damping - field weaken.Data type: UNSIGNED_8
Index: 24339d = 5F13h
Oscillation damping for idling machines
Setting range (min. value | unit | max. value) Lenze setting
0 40 14
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00241 | L_NSet_1: Hyst. NSet reachedData type: INTEGER_16
Index: 24334d = 5F0Eh
FB L_NSet_1: Hysteresis window for the zero detection of the speed output setpoint • The speed threshold for the zero detection is 1 %
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 0.50 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00242
648 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00242
C00243
C00244
C00245
C00249
Parameter | Name:
C00242 | L_PCTRL_1: Operating modeData type: UNSIGNED_8
Index: 24333d = 5F0Dh
FB L_PCTRL_1: Selection of the operating mode • Depending on the selection, the blue switches in the displayed signal flow are set accordingly in the Engineer on
the Application parameters tab for the L_PCTRL_1 FB.
Selection list (Lenze setting printed in bold) Information
0 Off The input setpoint nNSet_a is output without any changes at the output nOut_a.
1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID input values. The input setpoint nNSet_a is added to the value output by the PID element.
2 nSet_PID nSet_a and nAct_a are used as PID input values. The input nNSet_a is not considered.
3 nNSet_PID nNSet_a and nAct_a are used as PID input values. The input nSet_a is not considered.
4 nNSet + nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is added to the output value of the PID component.
5 nNSet || nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is output at the output nOut_a . The PID output value is output at the output nPIDOut_a.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00243 | L_PCTRL_1: Influence acceleration timeData type: UNSIGNED_32
Index: 24332d = 5F0Ch
FB L_PCTRL_1: Acceleration time for showing the PID output value
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 5.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00244 | L_PCTRL_1: Influence deceleration timeData type: UNSIGNED_32
Index: 24331d = 5F0Bh
FB L_PCTRL_1: Deceleration time for masking out the PID output value
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 5.000 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00245 | L_PCTRL_1: PID output valueData type: INTEGER_16Index: 24330d = 5F0Ah
FB L_PCTRL_1: Display of the output value of the PID process controller
Display range (min. value | unit | max. value)
-199.99 % 199.99
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00249 | L_PT1_1: Time constantData type: UNSIGNED_16
Index: 24326d = 5F06h
FB L_PT1_1: Time constant Tn
Setting range (min. value | unit | max. value) Lenze setting
1 ms 5000 2000 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 649
8400 HighLine C | Software ManualParameter reference
Parameter list | C00250
C00250
C00251
C00252
C00253
C00254
Parameter | Name:
C00250 | L_PT1 2-3: DelayTimeData type: INTEGER_16Index: 24325d = 5F05h
FB L_PT1_2-3: Time constant Tn
Setting range (min. value | unit | max. value)
1 ms 5000
Subcodes Lenze setting Information
C00250/1 2000 ms L_PT1_2: DelayTime
C00250/2 2000 ms L_PT1_3: DelayTime
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00251 | L_DT1_1: DelayTimeData type: INTEGER_16Index: 24324d = 5F04h
FB L_DT1_1: Time constant Tn
Setting range (min. value | unit | max. value) Lenze setting
10 ms 5000 1000 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00252 | L_DT1_1: GainData type: INTEGER_16Index: 24323d = 5F03h
FB L_DT1_1: Gain factor Vp
Setting range (min. value | unit | max. value) Lenze setting
-320.00 320.00 1.00
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00253 | L_DT1_1: SensitivityData type: UNSIGNED_8
Index: 24322d = 5F02h
FB L_DT1_1: Selection of sensitivity • Depending on the selection, the number of more significant bits is evaluated.
Note:The most significant bit determines the sign of the value, the remaining bits determine the numerical value.
Selection list (Lenze setting printed in bold) Information
1 15 Bit Bit 0 ... bit 14 are evaluated
2 14 Bit Bit 0 ... bit 13 are evaluated
3 13 Bit Bit 0 ... bit 12 are evaluated
4 12 Bit Bit 0 ... bit 11 are evaluated
5 11 Bit Bit 0 ... bit 10 are evaluated
6 10 Bit Bit 0 ... bit 9 are evaluated
7 9 Bit Bit 0 ... bit 8 are evaluated
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00254 | Kp position controllerData type: UNSIGNED_16
Index: 24321d = 5F01h
Gain for following error compensation
Setting range (min. value | unit | max. value) Lenze setting
0.00 1/s 500.00 0.00 1/s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00265
650 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00265
C00270
C00271
C00272
C00273
C00274
Parameter | Name:
C00265 | SLVC: Tn torque controllerData type: UNSIGNED_8
Index: 24310d = 5EF6h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00270 | SC: Freq. current setpoint filterData type: UNSIGNED_16
Index: 24305d = 5EF1h
Frequency to be inhibited by the current setpoint filter for SC (servo control) mode.
Setting range (min. value | unit | max. value) Lenze setting
40.0 Hz 1000.0 200.0 Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00271 | SC: Width - current setp. filterData type: UNSIGNED_16
Index: 24304d = 5EF0h
Frequency width of the current setpoint filter for SC (servo control) mode • Width around the frequency to be inhibited (C00270).
Setting range (min. value | unit | max. value) Lenze setting
0.0 Hz 500.0 0.0 Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00272 | SC: Depth - current setp. filterData type: UNSIGNED_16
Index: 24303d = 5EEFh
Damping of the current setpoint filter for SC (servo control) mode
Setting range (min. value | unit | max. value) Lenze setting
0 db 100 0 db
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00273 | Moment of inertiaData type: UNSIGNED_32
Index: 24302d = 5EEEh
Moment of inertia for setpoint precontrol for SC (servo control) and SLVC (vector control) modes
Setting range (min. value | unit | max. value) Lenze setting
0.00 kg cm^2 600000.00 0.00 kg cm^2
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00274 | SC: Max. acceleration changeData type: UNSIGNED_16
Index: 24301d = 5EEDh
Limitation of acceleration change for SC (servo control) mode • Setting in % of M_Nenn per ms.
Setting range (min. value | unit | max. value) Lenze setting
0.0 %/ms 400.0 400.0 %/ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 651
8400 HighLine C | Software ManualParameter reference
Parameter list | C00275
C00275
C00276
C00280
C00290
C00291
C00296
C00297
C00301
C00302
Parameter | Name:
C00275 | Setpoint precontrol filteringData type: UNSIGNED_16
Index: 24300d = 5EECh
As of version 02.00.00Filter time of the setpoint precontrol for SC (servo control) and SLVC (vector control) modes • The setpoint precontrol requires the entry of the moment of inertia in C00273.
Setting range (min. value | unit | max. value) Lenze setting
0.0 ms 1000.0 1.0 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00276 | SC: max. output voltageData type: UNSIGNED_8
Index: 24299d = 5EEBh
Setting range (min. value | unit | max. value) Lenze setting
80 % 99 95 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00280 | SC: Filter time const. DC detect.Data type: UNSIGNED_16
Index: 24295d = 5EE7h
Filter time constant for DC-bus voltage filtering • The filter time constant is e.g. used for the field weakening control for SC (servo control) mode.
Setting range (min. value | unit | max. value) Lenze setting
1 ms 1000 25 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00290 | RCOM error counterData type: UNSIGNED_16
Index: 24285d = 5EDDh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00291 | Error type RCOMData type: UNSIGNED_8
Index: 24284d = 5EDCh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00296 | ICOM error numberData type: UNSIGNED_16
Index: 24279d = 5ED7h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00297 | Counter Receive Error IsrData type: UNSIGNED_8
Index: 24278d = 5ED6h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00301 | DebugAccessData type: UNSIGNED_16
Index: 24274d = 5ED2h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00302 | Internal CommandsData type: UNSIGNED_8
Index: 24273d = 5ED1h
This code is for device-internal use only and must not be written to by the user!
8400 HighLine C | Software ManualParameter referenceParameter list | C00304
652 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00304
C00305
C00306
C00307
C00308
C00309
C00310
C00311
C00313
C00314
C00315
C00316
Parameter | Name:
C00304 | Password1Data type: UNSIGNED_32
Index: 24271d = 5ECFh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00305 | Password2Data type: UNSIGNED_32
Index: 24270d = 5ECEh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00306 | Debug addressData type: UNSIGNED_32
Index: 24269d = 5ECDh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00307 | Debug valueData type: UNSIGNED_16
Index: 24268d = 5ECCh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00308 | PartitionOffsetData type: UNSIGNED_16
Index: 24267d = 5ECBh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00309 | PartitionSelData type: UNSIGNED_8
Index: 24266d = 5ECAh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00310 | PartitionValueData type: UNSIGNED_16
Index: 24265d = 5EC9h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00311 | Runtime measurementData type: UNSIGNED_32
Index: 24264d = 5EC8h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00313 | LS_DataAccess: activationData type: UNSIGNED_8
Index: 24262d = 5EC6h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00314 | LS_DataAccess: address accessData type: UNSIGNED_32
Index: 24261d = 5EC5h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00315 | SystemFail-AdrData type: UNSIGNED_32
Index: 24260d = 5EC4h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00316 | SystemFail-InfoData type: UNSIGNED_16
Index: 24259d = 5EC3h
This code is for device-internal use only and must not be written to by the user!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 653
8400 HighLine C | Software ManualParameter reference
Parameter list | C00317
C00317
C00320
C00321
C00322
C00323
Parameter | Name:
C00317 | WatchdogTimeMaxData type: UNSIGNED_16
Index: 24258d = 5EC2h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00320 | Debug informationData type: UNSIGNED_32
Index: 24255d = 5EBFh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00321 | Main program runtimeData type: UNSIGNED_16
Index: 24254d = 5EBEh
Display of the current and the maximum runtime of the main program in the controller
Setting range (min. value | unit | max. value)
0 ms 65535
Subcodes Lenze setting Information
C00321/1 0 ms Runtime of curr. main program
C00321/2 0 ms Max. runtime of main program
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00322 | Transmission mode CAN TxPDOsData type: UNSIGNED_8
Index: 24253d = 5EBDh
TPDO transmission type according to DS301 V4.02 • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; time elapsed or data
change), 255 (event-controlled device profile-specific) are supported. • The basic setting for all PDOs is the event-controlled setting "254". • Mapping of the CANopen objects I-1800/2 ... I-1802/2 (see DS301 V4.02).
System bus "CAN on board"
Setting range (min. value | unit | max. value)
0 255
Subcodes Lenze setting Information
C00322/1 254 CAN1 OUT transmission mode
C00322/2 254 CAN2 OUT transmission mode
C00322/3 254 CAN3 OUT transmission mode
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00323 | Transmission mode CAN Rx PDOsData type: UNSIGNED_8
Index: 24252d = 5EBCh
RPDO transmission type according to DS301 V4.02 • In the case of the RPDO serves as monitoring setting in the case of sync-controlled PDOs. • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; every 1 ms by polling),
255 (event-controlled device profile-specific) are supported. • The basic setting for all PDOs is the event-controlled setting "254". • Mapping of the CANopen objects I-1400/2 ... I-1402/2 (see DS301 V4.02).
System bus "CAN on board"
Setting range (min. value | unit | max. value)
0 255
Subcodes Lenze setting Information
C00323/1 254 CAN1 IN transmission mode
C00323/2 254 CAN2 IN transmission mode
C00323/3 254 CAN3 IN transmission mode
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00338
654 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00338
C00339
C00345
Parameter | Name:
C00338 | L_Arithmetik_1: functionData type: UNSIGNED_8
Index: 24237d = 5EADh
FB L_Arithmetik_1: Selection of the internal arithmetic
Selection list (Lenze setting printed in bold)
0 nOut_a = nIn1_a
1 nOut_a = nIn1_a + nIn2_a
2 nOut_a = nIn1_a - nIn2_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% - nIn2_a)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00339 | L_Arithmetik_2: FunctionData type: UNSIGNED_8
Index: 24236d = 5EACh
FB L_Arithmetik_2: Selection of the internal arithmetic
Selection list (Lenze setting printed in bold)
0 nOut_a = nIn1_a
1 nOut_a = nIn1_a + nIn2_a
2 nOut_a = nIn1_a - nIn2_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% - nIn2_a)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00345 | CAN error statusData type: UNSIGNED_8
Index: 24230d = 5EA6h
System bus "CAN on board"
Selection list (read only)
0 No Error
1 Warning ErrActive
2 Warning ErrPassive
3 Bus off
4 Reserved
5 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 655
8400 HighLine C | Software ManualParameter reference
Parameter list | C00347
C00347
C00349
Parameter | Name:
C00347 | CAN status HeartBeat producerData type: UNSIGNED_8
Index: 24228d = 5EA4h
System bus "CAN on board": Heartbeat protocol
Selection list
0 Boot-up
4 Stopped
5 Operational
127 Pre-Operat.
250 Failed
255 NoResponse
Subcodes Information
C00347/1 Status node 1 ... 15
C00347/...
C00347/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00349 | CAN setting - DIP switchData type: UNSIGNED_16
Index: 24226d = 5EA2h
DIP switch setting during last mains power-onSystem bus "CAN on board"
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Node address 1
Bit 1 Node address 2
Bit 2 Node address 4
Bit 3 Node address 8
Bit 4 Node address 16
Bit 5 Node address 32
Bit 6 Node address 64
Bit 7 Baud rate 1
Bit 8 Baud rate 2
Bit 9 Baud rate 4
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 DIP switch at 24V-ON accepted
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00350
656 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00350
C00351
C00352
C00353
Parameter | Name:
C00350 | CAN node addressData type: UNSIGNED_8
Index: 24225d = 5EA1h
Setting of the node address via parameters • The node address can only be parameterised if the node address "0" is set via the DIP switches. • A change of the node address will only become effective after a CAN reset node.
System bus "CAN on board"
Setting range (min. value | unit | max. value) Lenze setting
1 63 1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00351 | CAN baud rateData type: UNSIGNED_8
Index: 24224d = 5EA0h
Setting of the baud rate via parameters • The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches. • A change of the baud rate will only become effective after a CAN reset node.
System bus "CAN on board"
Selection list (Lenze setting printed in bold)
0 500 kbps
1 250 kbps
2 125 kbps
3 50 kbps
4 1000 kbps
5 20kBit/s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00352 | CAN Slave/MasterData type: UNSIGNED_8
Index: 24223d = 5E9Fh
The drive starts as CAN master after mains switching if the value "1" has been entered and saved here.System bus "CAN on board"
Selection list (Lenze setting printed in bold)
0 Slave
1 Master
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00353 | CAN IN/OUT COBID sourceData type: UNSIGNED_8
Index: 24222d = 5E9Eh
Identifier allocation procedure for the CANx In/OUT process dataSystem bus "CAN on board"
Selection list Information
0 COBID = C0350 + LenzeBaseID COBID = device address + LenzeBaseID
1 COBID = C0350 + CANBaseID COBID = device address + CANBaseID (C00354/x)
2 COBID = C0354/x COBID = direct setting from C00354/x
Subcodes Lenze setting Information
C00353/1 1: COBID = C0350 + CANBaseID COBID source CAN1_IN/OUT
C00353/2 1: COBID = C0350 + CANBaseID COBID source CAN2_IN/OUT
C00353/3 1: COBID = C0350 + CANBaseID COBID source CAN3_IN/OUT
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 657
8400 HighLine C | Software ManualParameter reference
Parameter list | C00354
C00354
C00355
Parameter | Name:
C00354 | COBIDData type: UNSIGNED_32
Index: 24221d = 5E9Dh
Setting of the default COBID according to CANopen • A change of the COBID will only become effective after a CAN reset node.
System bus "CAN on board"
Setting range (min. hex value | max. hex value)
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COBID Bit0 • Bit 0 ... 10: COB-ID • Bit 11 ... 30: reserved • Bit 31: PDO invalid (is not transmitted)
... ...
Bit 31 PDO invalid
Subcodes Lenze setting Information
C00354/1 513 COBID CAN1_IN
C00354/2 385 COBID CAN1_OUT
C00354/3 769 COBID CAN2_IN
C00354/4 641 COBID CAN2_OUT
C00354/5 1025 COBID CAN3_IN
C00354/6 897 COBID CAN3_OUT
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00355 | Active COBIDData type: UNSIGNED_16
Index: 24220d = 5E9Ch
Display of the COBID of the PDOs that is active in the CAN stackSystem bus "CAN on board"
Display range (min. value | unit | max. value)
0 2047
Subcodes Information
C00355/1 Active COBID CAN1_IN
C00355/2 Active COBID CAN1_OUT
C00355/3 Active COBID CAN2_IN
C00355/4 Active COBID CAN2_OUT
C00355/5 Active COBID CAN3_IN
C00355/6 Active COBID CAN3_OUT
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00356
658 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00356
C00357
C00358
Parameter | Name:
C00356 | CAN time settingsData type: UNSIGNED_16
Index: 24219d = 5E9Bh
Different time settings for the CAN interfaceSystem bus "CAN on board"
Setting range (min. value | unit | max. value)
0 ms 65000
Subcodes Lenze setting Information
C00356/1 3000 ms CAN delay during status change from "Boot-up" to "Operational"
C00356/2 0 ms CAN2_OUT cycle time
C00356/3 0 ms CAN3_OUT cycle time
C00356/4 0 ms CANx_OUT time "Operational" to "First transmission"
C00356/5 0 ms CAN1_OUT cycle time
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00357 | CAN monitoring timesData type: UNSIGNED_16
Index: 24218d = 5E9Ah
Mapping of the RPDO event time (see DS301 V4.02) • If a non-zero value is entered, the RPDO is expected after the time set has elapsed. • If the RPDO is not received within the expected time, the response set in C00593/1...3 is effected.
System bus "CAN on board"
Setting range (min. value | unit | max. value)
0 ms 65000
Subcodes Lenze setting Information
C00357/1 3000 ms CAN1_IN monitoring time
C00357/2 3000 ms CAN2_IN monitoring time
C00357/3 3000 ms CAN3_IN monitoring time
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00358 | CANx_OUT data lengthData type: UNSIGNED_8
Index: 24217d = 5E99h
Setting of the data length for TX PDOsSystem bus "CAN on board"
Setting range (min. value | unit | max. value)
1 8
Subcodes Lenze setting Information
C00358/1 8 CAN1_OUT data length
C00358/2 8 CAN2_OUT data length
C00358/3 8 CAN3_OUT data length
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 659
8400 HighLine C | Software ManualParameter reference
Parameter list | C00359
C00359
C00360
Parameter | Name:
C00359 | CAN statusData type: UNSIGNED_8
Index: 24216d = 5E98h
System bus "CAN on board"
Selection list (read only)
0 Operational
1 Pre-Operat.
2 Reserved
3 Reserved
4 BootUp
5 Stopped
6 Reserved
7 Reset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00360 | CAN telegram counterData type: UNSIGNED_16
Index: 24215d = 5E97h
System bus "CAN on board"
Display range (min. value | unit | max. value)
0 65535
Subcodes Information
C00360/1 All PDOs/SDOs transmitted
C00360/2 All PDOs/SDOs received
C00360/3 CAN1_OUT telegram counter
C00360/4 CAN2_OUT telegram counter
C00360/5 CAN3_OUT telegram counter
C00360/6 SDO1 OUT telegram counter
C00360/7 SDO2 OUT telegram counter
C00360/8 CAN1_IN telegram counter
C00360/9 CAN2_IN telegram counter
C00360/10 CAN3_IN telegram counter
C00360/11 SDO1 IN telegram counter
C00360/12 SDO2 IN telegram counter
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00364
660 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00364
C00366
C00367
C00368
Parameter | Name:
C00364 | CAN MessageErrorData type: UNSIGNED_8
Index: 24211d = 5E93h
System bus "CAN on board"
Selection list (read only)
0 No Error
1 StuffError
2 FormError
3 AckError
4 Bit1Error
5 Bit0Error
6 CRCError
7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00366 | CAN CAN1_OUT transmit at SyncData type: UNSIGNED_8
Index: 24209d = 5E91h
In the Lenze setting "Yes", the device transmits CAN1_OUT after receipt of the sync telegram if the transmission mode for CAN1_OUT is set to 1 ... 240 in C00322/1.
System bus "CAN on board"
Selection list (Lenze setting printed in bold)
0 No
1 Yes
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00367 | CAN Sync-Rx identifierData type: UNSIGNED_16
Index: 24208d = 5E90h
Identifier by means of which the sync slave is to receive sync telegrams. • Mapping of the CANopen object I-1005 (see DS301 V4.02).
System bus "CAN on board": Sync telegram
Setting range (min. value | unit | max. value) Lenze setting
1 255 128
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00368 | CAN Sync-Tx identifierData type: UNSIGNED_16
Index: 24207d = 5E8Fh
Identifier by means of which the sync master is to transmit sync telegrams. • Mapping of the CANopen object I-1005 (see DS301 V4.02).
System bus "CAN on board": Sync telegram
Setting range (min. value | unit | max. value) Lenze setting
1 255 128
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 661
8400 HighLine C | Software ManualParameter reference
Parameter list | C00369
C00369
C00372
C00381
C00385
Parameter | Name:
C00369 | CAN sync transmission cycle timeData type: UNSIGNED_16
Index: 24206d = 5E8Eh
Cycle during which the sync master is to transmit sync telegrams. • If "0 ms" is set (Lenze setting), no sync telegrams are generated. • Mapping of the CANopen object I-1006 (see DS301 V4.02).
System bus "CAN on board": Sync telegram
Setting range (min. value | unit | max. value) Lenze setting
0 ms 65000 0 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00372 | CAN_Tx_Rx_ErrorData type: UNSIGNED_8
Index: 24203d = 5E8Bh
System bus "CAN on board"
Display range (min. value | unit | max. value)
0 255
Subcodes Information
C00372/1 Tx_Error
C00372/2 Rx_Error
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00381 | CAN heartbeat producer timeData type: UNSIGNED_16
Index: 24194d = 5E82h
Time interval for the transmission of the heartbeat telegram to the consumer(s). • The heartbeat telegram is sent automatically as soon as a time > 0 ms is set. • Mapping of the CANopen object I-1017 (see DS301 V4.02).
System bus "CAN on board": Heartbeat protocol
Setting range (min. value | unit | max. value) Lenze setting
0 ms 65535 0 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00385 | CAN node addr. HeartBeat producerData type: UNSIGNED_8
Index: 24190d = 5E7Eh
The subcodes represent the nodes to be monitored by means of heartbeat. • Mapping of the CANopen object I-1016 (see DS301 V4.02).
System bus "CAN on board": Heartbeat protocol
Setting range (min. value | unit | max. value)
0 127
Subcodes Lenze setting Information
C00385/1 0 CAN node address HeartBeat Producer 1 ... 15
C00385/...
C00385/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00386
662 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00386
C00400
C00401
Parameter | Name:
C00386 | CAN HeartBeat ConsumerTimeData type: UNSIGNED_16
Index: 24189d = 5E7Dh
The subcodes represent the nodes to be monitored by means of heartbeat. • Mapping of the CANopen object I-1016 (see DS301 V4.02).
System bus "CAN on board": Heartbeat protocol
Setting range (min. value | unit | max. value)
0 ms 60000
Subcodes Lenze setting Information
C00386/1 0 ms ConsumerTime HeartBeat Producer 1 ... 15
C00386/...
C00386/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00400 | LS_PulseGeneratorData type: UNSIGNED_16
Index: 24175d = 5E6Fh
Time setting of the pulse to be output by the SB LS_PulseGenerator
Setting range (min. value | unit | max. value)
0 ms 60000
Subcodes Lenze setting Information
C00400/1 1000 ms Length of LOW level (dead time)
C00400/2 1000 ms Length of HIGH level
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00401 | CANxInOut: InversionData type: UNSIGNED_16
Index: 24174d = 5E6Eh
As of version 02.00.00Via these parameters, the control and status bits of the CAN port blocks can be inverted
Setting range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 Bit0 Bit set = bit is inverted
... ...
Bit 15 Bit15
Subcodes Lenze setting Information
C00401/1 0 Inversion of LP_CanIn1.bCtrl1_B0...15
C00401/2 0 Inversion of LP_CanOut1.bState1_B0...15
C00401/3 0 Inversion of LP_CanIn2.bIn1_B0...15
C00401/4 0 Inversion of LP_CanOut2.bOut1_B0...15
C00401/5 0 Inversion of LP_CanIn3.bIn1_B0...15
C00401/6 0 Inversion of LP_CanOut3.bOut1_B0...15
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 663
8400 HighLine C | Software ManualParameter reference
Parameter list | C00408
C00408
C00409
Parameter | Name:
C00408 | LP_CanIn mapping selectionData type: UNSIGNED_8
Index: 24167d = 5E67h
As of version 02.00.00Selection of the mapping source for port blocks LP_CanIn1...3
Selection list Information
0 CanIn CanIn
1 Par.C409 Mapping configured in C00409
Subcodes Lenze setting Information
C00408/1 0: CanIn Mapping selection LP_CanIn1
C00408/2 0: CanIn Mapping selection LP_CanIn2
C00408/3 0: CanIn Mapping selection LP_CanIn3
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00409 | LP_CanIn mappingData type: UNSIGNED_16
Index: 24166d = 5E66h
As of version 02.00.00Mapping for port blocks LP_CanIn1...3
Setting range (min. value | unit | max. value)
0 65535
Subcodes Lenze setting Information
C00409/1 0 LP_CanIn1.wCtrl
C00409/2 0 LP_CanIn1.wIn2
C00409/3 0 LP_CanIn1.wIn3
C00409/4 0 LP_CanIn1.wIn4
C00409/5 0 LP_CanIn2.wCtrl
C00409/6 0 LP_CanIn2.wIn2
C00409/7 0 LP_CanIn2.wIn3
C00409/8 0 LP_CanIn2.wIn4
C00409/9 0 LP_CanIn3.wCtrl
C00409/10 0 LP_CanIn3.wIn2
C00409/11 0 LP_CanIn3.wIn3
C00409/12 0 LP_CanIn3.wIn4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00410
664 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00410Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
FB L_SignalMonitor_a: Selection of the signal sources
Selection list Information
0 Not connected
1000 LA_nCtrl_wDriveControlStatus
1001 LA_nCtrl_wFailNumber
1002 LA_nCtrl_nMotorCurrent_a
1003 LA_nCtrl_nMotorSpeedAct_a
1006 LA_nCtrl_nGPAnalogSwitchOut_a
1007 LA_nCtrl_nGPArithmetikOut_a
1008 LA_nCtrl_nGPMulDivOut_a
1009 LA_nCtrl_nGPSignalOut1_a
1010 LA_nCtrl_nGPSignalOut2_a
1011 LA_nCtrl_nGPSignalOut3_a
1012 LA_nCtrl_nGPSignalOut4_a
1013 LA_nCtrl_nMotorTorqueAct_a
1014 LA_nCtrl_nDCVoltage_a
1015 LA_nCtrl_nMotorVoltage_a
1016 LA_nCtrl_nMotorSpeedSet_a
1017 LA_nCtrl_wFailTypeDomain
1100 LA_TabPos_wDriveControlStatus
1101 LA_TabPos_wStateDetermFailNoLow
1102 LA_TabPos_wStateDetermFailNoHigh
1103 LA_TabPos_nMotorCurrent_a
1104 LA_TabPos_nMotorSpeedSet_a
1105 LA_TabPos_nMotorSpeedAct_a
1106 LA_TabPos_nMotorTorqueAct_a
1107 LA_TabPos_nDCVoltage_a
1108 LA_TabPos_nMotorVoltage_a
1109 LA_TabPos_wMckState1
1110 LA_TabPos_wMckState2
1111 LA_TabPos_wMckActOperationMode
1112 LA_TabPos_wActProfileNo
1113 LA_TabPos_wActPosMode
1114 LA_TabPos_nGPAnalogSwitchOut_a
1115 LA_TabPos_nGPArithmetikOut_a
1116 LA_TabPos_nGPMulDivOut_a
1117 LA_TabPos_nGPSignalOut1_a
1118 LA_TabPos_nGPSignalOut2_a
1119 LA_TabPos_nGPSignalOut3_a
1120 LA_TabPos_nGPSignalOut4_a
1121 LA_TabPos_wGPCounter1Out
1122 LA_TabPos_wFreeOut1
1123 LA_TabPos_wFreeOut2
1124 LA_TabPos_wFreeOut3
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 665
8400 HighLine C | Software ManualParameter reference
Parameter list | C00410
1125 LA_TabPos_wFreeOut4
1126 LA_TabPos_nPosCtrlOutLimit_a
1127 LA_TabPos_nPosCtrlPAdapt_a
16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16014 DIGIN_wCountIn1_LW
16015 DIGIN_wCountIn1_HW
16016 DIGIN_nFreqIn12_a
16017 DIGIN_nFreqIn12_v
16018 DIGIN_wCountIn6_LW
16019 DIGIN_wCountIn6_HW
16020 DIGIN_nFreqIn67_a
16021 DIGIN_nFreqIn67_v
16100 LS_DataAccess_Out1
16101 LS_DataAccess_Out2
16102 LS_DataAccess_Out3
16103 LS_DataAccess_Out4
16104 LP_MciIn_wCtrl
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
16113 LP_MciIn_wIn10
16114 LP_MciIn_wIn11
16115 LP_MciIn_wIn12
16116 LP_MciIn_wIn13
16117 LP_MciIn_wIn14
16118 LP_MciIn_wIn15
Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
8400 HighLine C | Software ManualParameter referenceParameter list | C00410
666 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16119 LP_MciIn_wIn16
16120 LS_Keypad_nTorqueMotLim_a
16121 LS_Keypad_nTorqueGenLim_a
16122 LS_Keypad_nMainSetValue_a
20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
32000 MCTRL_nMotorSpeedAct_a
32001 MCTRL_nOutputSpeedCtrl_a
32002 MCTRL_nInputJerkCtrl_a
32003 MCTRL_nInputTorqueCtrl_a
32004 MCTRL_nMotorTorqueAct_a
32005 MCTRL_nActualFluxx_a
32006 MCTRL_nDCVoltage_a
32007 MCTRL_nStatorCurrentIS_a
32008 MCTRL_nEffCurrentIq_a
32009 MCTRL_nReaktCurrentId_a
Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 667
8400 HighLine C | Software ManualParameter reference
Parameter list | C00410
32010 MCTRL_wMaxMotorSpeed
32011 MCTRL_wMaxMotorTorque
32012 MCTRL_nMotorVoltage_a
32013 MCTRL_nMotorFreqAct_a
32014 MCTRL_nEffSpeedSetValue_a
32015 MCTRL_nIxTRate_a
32016 MCTRL_nI2xTRate_a
32017 MCTRL_nOutputPosCtrl_a
32018 MCTRL_nHlgSetValue_a
32019 MCTRL_nMotorSpeedAct_v
32100 DCTRL_wDeviceStateWord
32101 DCTRL_wDeviceAuxStateWord
32102 DCTRL_wDetermFailNoLow
32103 DCTRL_wDetermFailNoHigh
32104 DCTRL_wFrei_2
32200 MCK_nSpeedSet_v
32201 MCK_nSpeedCtrlI_a
32202 MCK_nSpeedSetValue_a
32203 MCK_nTorqueSetValue_a
32204 MCK_wActProfileNo
32205 MCK_wFollowProfileNo
32206 MCK_wMotionState1
32207 MCK_wMotionState2
32208 MCK_wAuxState
32209 MCK_nPWMAngleOffset_a
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
36000 L_Absolut _Out_1
36001 L_AddSub_Out_1
36002 L_OffsetGain_Out_1
36003 L_OffsetGain_Out_2
36004 L_OffsetGainPar_1
36005 L_OffsetGainPar_2
36006 L_GainOffset_Out_1
36007 L_GainOffset_Out_2
36008 L_GainOffsetPar_1
36009 L_GainOffsetPar_2
36010 L_Negation_Out_1
Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
8400 HighLine C | Software ManualParameter referenceParameter list | C00410
668 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36011 L_Aritmethik_Out_1
36012 L_Aritmethik_Out_2
36013 L_AnalogSwitch_Out_1
36014 L_AnalogSwitch_Out_2
36015 L_AnalogSwitch_Out_3
36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36019 L_MotorPoti_1_Out
36020 L_PCTRL_1_Out
36021 L_SigMonitor_a_Out1
36022 L_SigMonitor_a_Out2
36023 L_NLim_1_nOut_a
36024 L_Counter_1_wOut
36025 L_OffsetGainPar_3
36026 L_GainOffsetPar_3
36027 L_SigMonitor_a_Out3
36028 L_SigMonitor_a_Out4
36029 L_MulDiv_1_nOut_a
36030 L_NLim_1_wState
36031 L_NSet_1_wState
36032 L_NSet_1_nSetValue
36033 L_PT1_1_nOut_a
36034 L_Absolut _Out_2
36035 L_AnalogSwitch_4_Out
36036 L_AnalogSwitch_5_Out
36037 L_Aritmethik_3_Out
36038 L_Aritmethik_4_Out
36039 L_Aritmethik_5_Out
36045 L_GainOffset_Out_3
36053 L_MulDiv_2_nOut_a
36054 L_Negation_2_Out
36055 L_NLim_2_nOut_a
36056 L_NLim_2_wState
36057 L_OffsetGain_Out_3
36058 L_PT1_2_nOut_a
36059 L_PT1_3_nOut_a
36064 L_SampleHold_1_nOut_a
36065 L_SampleHold_2_nOut_a
36068 L_Counter_2_wOut
36069 L_Counter_3_wOut
36073 L_DT1_1_nOut_a
36074 L_ConvBitsToWord_1_wOut
36075 L_ConvBitsToWord_2_wOut
Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 669
8400 HighLine C | Software ManualParameter reference
Parameter list | C00410
36076 L_ConvBitsToWord_3_wOut
36077 L_ConvDIntToWords_1_wOutLWord
36078 L_ConvDIntToWords_1_wOutHWord
36079 L_ConvDIntToWords_2_wOutLWord
36080 L_ConvDIntToWords_2_wOutHWord
36081 L_ConvDIntToWords_3_wOutLWord
36082 L_ConvDIntToWords_3_wOutHWord
36083 L_MckCtrlInterface_1_wOutMckPosCtrl_1
36084 L_MckCtrlInterface_1_wOutMckPosCtrl_2
36085 L_MckCtrlInterface_1_wFailState
36086 L_MckStateInterface_1_wOperationMode
36087 L_MckStateInterface_1_wActProfileNo
36088 L_MckStateInterface_1_wActPosMode
36089 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_1
36090 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_2
36091 L_PCTRL_1_nPIDOut2_a
36092 L_PCTRL_1_nPIDOut_a
36093 L_PCTRL_1_nInfluenceOut_a
42000 LA_nCtrl_In_wCANDriveControl
42001 LA_nCtrl_In_wCCMDriveControl
42002 LA_nCtrl_In_nTorqueMotLim
42003 LA_nCtrl_In_nTorqueGenLim
42004 LA_nCtrl_In_nPIDVpAdapt_a
42005 LA_nCtrl_In_nPIDActValue_a
42006 LA_nCtrl_In_nMainSetValue
42007 LA_nCtrl_In_nAuxSetValue
42008 LA_nCtrl_In_nGPAnalogSwitchIn1_a
42009 LA_nCtrl_In_nGPAnalogSwitchIn2_a
42010 LA_nCtrl_In_nGPArithmetikIn1_a
42011 LA_nCtrl_In_nGPArithmetikIn2_a
42012 LA_nCtrl_In_nGPMulDivIn_a
42013 LA_nCtrl_In_nGPCompareIn1_a
42014 LA_nCtrl_In_nGPCompareIn2_a
42015 LA_nCtrl_In_nVoltageAdd_a
42016 LA_nCtrl_In_nPIDInfluence_a
42017 LA_nCtrl_In_nPIDSetValue_a
42018 LA_nCtrl_In_nPWMAngleOffset_a
42100 LA_TabPos_In_wCanDriveControl
42101 LA_TabPos_In_wMciDriveControl
42102 LA_TabPos_In_nTorqueMotLim_a
42103 LA_TabPos_In_nTorqueGenLim_a
42104 LA_TabPos_In_nMainSetValue_a
42105 LA_TabPos_In_nAuxSetValue_a
42106 LA_TabPos_In_wMckCtrl1
Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
8400 HighLine C | Software ManualParameter referenceParameter list | C00411
670 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00411
42107 LA_TabPos_In_wMckCtrl2
42108 LA_TabPos_In_wMckOperationMode
42109 LA_TabPos_In_wPosProfileMode
42110 LA_TabPos_In_wPosProfileNo
42111 LA_TabPos_In_nGPAnalogSwitchIn1_a
42112 LA_TabPos_In_nGPAnalogSwitchIn2_a
42113 LA_TabPos_In_nGPArithmetikIn1_a
42114 LA_TabPos_In_nGPArithmetikIn2_a
42115 LA_TabPos_In_nGPMulDivIn_a
42116 LA_TabPos_In_nGPCompareIn1_a
42117 LA_TabPos_In_nGPCompareIn2_a
42118 LA_TabPos_In_wGPCounter1LdVal
42119 LA_TabPos_In_wGPCounter1CmpVal
42120 LA_TabPos_In_nSpeedOverride_a
42121 LA_TabPos_In_nAccOverride_a
42122 LA_TabPos_In_wFreeIn1
42123 LA_TabPos_In_wFreeIn2
42124 LA_TabPos_In_wFreeIn3
42125 LA_TabPos_In_wFreeIn4
Subcodes Lenze setting Information
C00410/1 0: Not connected Signal source for output nOut1_a
C00410/2 0: Not connected Signal source for output nOut2_a
C00410/3 0: Not connected Signal source for output nOut3_a
C00410/4 0: Not connected Signal source for output nOut4_a
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16
Index: 24165d = 5E65h
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
FB L_SignalMonitor_b: Selection of the signal sources
Selection list Information
0 Not connected
1000 LA_nCtrl_bDriveReady
1001 LA_nCtrl_bDriveFail
1002 LA_nCtrl_bCInhActive
1003 LA_nCtrl_bQSPIsActive
1004 LA_nCtrl_bSpeedCcw
1005 LA_nCtrl_bSpeedActCompare
1008 LA_nCtrl_bGPDigitalDelayOut
1009 LA_nCtrl_bGPLogicOut
1010 LA_nCtrl_bGPSignalOut1
1011 LA_nCtrl_bGPSignalOut2
1012 LA_nCtrl_bGPSignalOut3
1013 LA_nCtrl_bGPSignalOut4
1014 LA_nCtrl_bOverLoadActive
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 671
8400 HighLine C | Software ManualParameter reference
Parameter list | C00411
1015 LA_nCtrl_bBrakeReleaseOut
1016 LA_nCtrl_bBrakeReleased
1017 LA_nCtrl_bGPCompareOut
1018 LA_nCtrl_bUnderLoadActive
1019 LA_nCtrl_bImaxActive
1020 LA_nCtrl_bSpeedSetReached
1021 LA_nCtrl_bSpeedActEqSet
1022 LA_nCtrl_bGPDFlipFlopOut
1023 LA_nCtrl_bGPDFlipFlopNegOut
1100 LA_TabPos_bDriveFail
1101 LA_TabPos_bDriveReady
1102 LA_TabPos_bCInhActive
1103 LA_TabPos_bQSPIsActive
1104 LA_TabPos_bSpeedCcw
1105 LA_TabPos_bSpeedActCompare
1106 LA_TabPos_bImaxActive
1107 LA_TabPos_bSpeedSetReached
1108 LA_TabPos_bMBrakeReleaseOut
1109 LA_TabPos_bMBrakeReleased
1110 LA_TabPos_bHomeDone
1111 LA_TabPos_bHomePosAvailable
1112 LA_TabPos_bProfileDone
1113 LA_TabPos_bProfileBusy
1114 LA_TabPos_bAccelerating
1115 LA_TabPos_bConstantDuty
1116 LA_TabPos_bDecelerating
1117 LA_TabPos_bDwellTime
1118 LA_TabPos_bInTarget
1119 LA_TabPos_bGPDigitalDelayOut
1120 LA_TabPos_bGPLogicOut
1121 LA_TabPos_bGPCompareOut
1122 LA_TabPos_bGPSignalOut1
1123 LA_TabPos_bGPSignalOut2
1124 LA_TabPos_bGPSignalOut3
1125 LA_TabPos_bGPSignalOut4
1126 LA_TabPos_bGPDFlipFlop_Out
1127 LA_TabPos_bGPDFlipFlop_NegOut
1128 LA_TabPos_bGPCounter1Equal
1129 LA_TabPos_bFreeOut1
1130 LA_TabPos_bFreeOut2
1131 LA_TabPos_bFreeOut3
1132 LA_TabPos_bFreeOut4
1133 LA_TabPos_bFreeOut5
1134 LA_TabPos_bFreeOut6
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
8400 HighLine C | Software ManualParameter referenceParameter list | C00411
672 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1135 LA_TabPos_bFreeOut7
1136 LA_TabPos_bFreeOut8
16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16009 DigIn_bCountIn1_Compare
16010 DigIn_bCountIn6_Compare
16011 Ain_bCurrentErrorIn1
16012 Ain_bCurrentErrorIn2
16013 CAN1_bCtrl1_B0
16014 CAN1_bCtrl1_B1
16015 CAN1_bCtrl1_B2
16016 CAN1_bCtrl1_B3
16017 CAN1_bCtrl1_B4
16018 CAN1_bCtrl1_B5
16019 CAN1_bCtrl1_B6
16020 CAN1_bCtrl1_B7
16021 CAN1_bCtrl1_B8
16022 CAN1_bCtrl1_B9
16023 CAN1_bCtrl1_B10
16024 CAN1_bCtrl1_B11
16025 CAN1_bCtrl1_B12
16026 CAN1_bCtrl1_B13
16027 CAN1_bCtrl1_B14
16028 CAN1_bCtrl1_B15
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 673
8400 HighLine C | Software ManualParameter reference
Parameter list | C00411
16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16061 MciIn_bCtrl_B0
16062 MciIn_bCtrl_B1
16063 MciIn_bCtrl_B2
16064 MciIn_bCtrl_B3
16065 MciIn_bCtrl_B4
16066 MciIn_bCtrl_B5
16067 MciIn_bCtrl_B6
16068 MciIn_bCtrl_B7
16069 MciIn_bCtrl_B8
16070 MciIn_bCtrl_B9
16071 MciIn_bCtrl_B10
16072 MciIn_bCtrl_B11
16073 MciIn_bCtrl_B12
16074 MciIn_bCtrl_B13
16075 MciIn_bCtrl_B14
16076 MciIn_bCtrl_B15
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
8400 HighLine C | Software ManualParameter referenceParameter list | C00411
674 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16087 MciIn_bIn1_B10
16088 MciIn_bIn1_B11
16089 MciIn_bIn1_B12
16090 MciIn_bIn1_B13
16091 MciIn_bIn1_B14
16092 MciIn_bIn1_B15
16093 LS_Keypad_bSetQuickstop
16094 LS_Keypad_bSetDCBrake
16095 LS_Keypad_bSetSpeedCcw
16096 LS_Keypad_bJogSpeed1
16097 LS_Keypad_bJogSpeed2
16098 LS_Keypad_bMPotEnable
16099 LS_Keypad_bMPotUp
16100 LS_Keypad_bMPotDown
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 675
8400 HighLine C | Software ManualParameter reference
Parameter list | C00411
20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32001 MCTRL_bHeatSinkWarning
32002 MCTRL_bLimPosCtrlOut
32003 MCTRL_bLimSpeedCtrlOut
32004 MCTRL_bLimSpeedSetVal
32005 MCTRL_bLimTorqueSetVal
32006 MCTRL_bLimCurrentSetVal
32007 MCTRL_bUVDetected
32008 MCTRL_bOVDetected
32009 MCTRL_bMotorPhaseFault
32010 MCTRL_bEncoderComFault
32011 MCTRL_bIxtOverload
32012 MCTRL_bI2xtOverload
32013 MCTRL_bIdentificationActive
32014 MCTRL_bFlyingSyncActive
32015 MCTRL_bMMax
32016 MCTRL_bNMaxFault
32017 MCTRL_bFChopReduced
32018 MCTRL_bMotorPTCFault
32019 MCTRL_bMotorTempFault
32020 MCTRL_bAutoGSBIsActive
32021 MCTRL_bBrakeChopperFault
32022 MCTRL_bQspIsActive
32023 MCTRL_bHlgLoad
32024 MCTRL_bHlgStop
32025 MCTRL_bImpSperreAktiv
32026 MCTRL_bClampActive
32027 MCTRL_bMainsErr
32028 MCTRL_bNmaxForFchop
32029 MCTRL_bShortCircuit
32030 MCTRL_bEarthFault
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
8400 HighLine C | Software ManualParameter referenceParameter list | C00411
676 L Firmware 02.00 - DMS EN 3.0 - 05/2009
32100 DCTRL_bInit
32101 DCTRL_bReady
32102 DCTRL_bReadyToSwitchOn
32103 DCTRL_bOperationEnable
32104 DCTRL_bWarning
32105 DCTRL_bTrouble
32106 DCTRL_bFail
32107 DCTRL_bSystemFail
32108 DCTRL_bSafeTorqueOff
32109 DCTRL_bIMPIsActive
32110 DCTRL_bCINHIsActive
32111 DCTRL_bSafetyIsActive
32112 DCTRL_bCwCcw
32113 DCTRL_bNactCompare
32200 MCK_bPosCtrlOn
32201 MCK_bSpeedCtrlIOn
32202 MCK_bTorquemodeOn
32203 MCK_bDcBrakeOn
32204 MCK_bBrkReleaseOut
32205 MCK_bBrkReleased
32206 MCK_bDeltaPosOn
32207 MCK_bPosDerivativeOn
32208 MCK_bMotorRefOffsetOn
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
32212 MCK_bHomDone
32213 MCK_bHomAvailable
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36009 L_DFlipFlop_Out_1
36010 L_RLQ_1_Qsp
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 677
8400 HighLine C | Software ManualParameter reference
Parameter list | C00411
36011 L_RLQ_1_Ccw
36012 L_DigDelay_Out_1
36013 L_Compare_Out_1
36014 L_Compare_Out_2
36015 L_Compare_Out_3
36016 L_Nset_RfgEq0_1
36017 L_DigitalLogic_1_bOut
36018 L_Counter_1_bEqual
36019 L_SigMonitor_b_bOut1
36020 L_SigMonitor_b_bOut2
36021 L_SigMonitor_b_bOut3
36022 L_SigMonitor_b_bOut4
36023 L_PCTRL_1_bActEqSet
36024 L_NLim_1_bLimitActive
36025 L_DFlipFlop_1_NegOut
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36028 L_Compare_4_bOut
36029 L_Compare_5_bOut
36030 L_Compare_6_bOut
36031 L_Compare_7_bOut
36032 L_Compare_8_bOut
36033 L_Compare_9_bOut
36034 L_Compare_10_bOut
36035 L_DFlipFlop_2_bOut
36036 L_DFlipFlop_2_bNegOut
36037 L_DigDelay_2_Out
36038 L_DigDelay_3_Out
36041 L_DigitalLogic_2_bOut
36042 L_DigitalLogic5_1_bOut
36043 L_DigitalLogic5_2_bOut
36044 L_NLim_2_bLimitActive
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
36055 L_PhaseIntK_1_bState
36056 L_PhaseIntK_2_bState
36057 L_Counter_2_bEqual
36058 L_Counter_3_bEqual
36059 L_RSFlipflop_1_bOut
36060 L_RSFlipflop_1_bNegOut
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
8400 HighLine C | Software ManualParameter referenceParameter list | C00411
678 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36061 L_RSFlipflop_2_bOut
36062 L_RSFlipflop_2_bNegOut
36063 L_Transient_1_bOut
36064 L_Transient_2_bOut
36065 L_Transient_3_bOut
36066 L_Transient_4_bOut
36067 L_ConvWordToBits_1_bBit0
36068 L_ConvWordToBits_1_bBit1
36069 L_ConvWordToBits_1_bBit2
36070 L_ConvWordToBits_1_bBit3
36071 L_ConvWordToBits_1_bBit4
36072 L_ConvWordToBits_1_bBit5
36073 L_ConvWordToBits_1_bBit6
36074 L_ConvWordToBits_1_bBit7
36075 L_ConvWordToBits_1_bBit8
36076 L_ConvWordToBits_1_bBit9
36077 L_ConvWordToBits_1_bBit10
36078 L_ConvWordToBits_1_bBit11
36079 L_ConvWordToBits_1_bBit12
36080 L_ConvWordToBits_1_bBit13
36081 L_ConvWordToBits_1_bBit14
36082 L_ConvWordToBits_1_bBit15
36083 L_ConvWordToBits_2_bBit0
36084 L_ConvWordToBits_2_bBit1
36085 L_ConvWordToBits_2_bBit2
36086 L_ConvWordToBits_2_bBit3
36087 L_ConvWordToBits_2_bBit4
36088 L_ConvWordToBits_2_bBit5
36089 L_ConvWordToBits_2_bBit6
36090 L_ConvWordToBits_2_bBit7
36091 L_ConvWordToBits_2_bBit8
36092 L_ConvWordToBits_2_bBit9
36093 L_ConvWordToBits_2_bBit10
36094 L_ConvWordToBits_2_bBit11
36095 L_ConvWordToBits_2_bBit12
36096 L_ConvWordToBits_2_bBit13
36097 L_ConvWordToBits_2_bBit14
36098 L_ConvWordToBits_2_bBit15
36099 L_ConvWordToBits_3_bBit0
36100 L_ConvWordToBits_3_bBit1
36101 L_ConvWordToBits_3_bBit2
36102 L_ConvWordToBits_3_bBit3
36103 L_ConvWordToBits_3_bBit4
36104 L_ConvWordToBits_3_bBit5
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 679
8400 HighLine C | Software ManualParameter reference
Parameter list | C00411
36105 L_ConvWordToBits_3_bBit6
36106 L_ConvWordToBits_3_bBit7
36107 L_ConvWordToBits_3_bBit8
36108 L_ConvWordToBits_3_bBit9
36109 L_ConvWordToBits_3_bBit10
36110 L_ConvWordToBits_3_bBit11
36111 L_ConvWordToBits_3_bBit12
36112 L_ConvWordToBits_3_bBit13
36113 L_ConvWordToBits_3_bBit14
36114 L_ConvWordToBits_3_bBit15
36115 L_MckCtrlInterface_1_bFail
36116 L_MckStateInterface_1_bAccelerating
36117 L_MckStateInterface_1_bDecelerating
36118 L_MckStateInterface_1_bConstantSpeedDuty
36119 L_MckStateInterface_1_bSShaping
36120 L_MckStateInterface_1_bBusy
36121 L_MckStateInterface_1_bDone
36122 L_MckStateInterface_1_bHomingPosAvailable
36123 L_MckStateInterface_1_bHomingDone
36124 L_MckStateInterface_1_bDwellTime
36125 L_MckStateInterface_1_bInTarget
36126 L_MckStateInterface_1_bPosDone
36127 L_PosiShaftCtrlInterface_1_bQsp
36128 L_PosiShaftCtrlInterface_1_bRsp
36129 L_PosiShaftCtrlInterface_1_bTripSet
36130 L_PosiShaftCtrlInterface_1_bTripReset
36131 L_JogCtrlExtension_bRfgOut
36132 L_JogCtrlExtension_bJog1Out
36133 L_JogCtrlExtension_bJog2Out
42000 LA_NCtrl_bCInh
42001 LA_NCtrl_bFailReset
42002 LA_NCtrl_bSetQuickstop
42003 LA_NCtrl_bSetDCBrake
42004 LA_NCtrl_bRFG_Stop
42005 LA_NCtrl_bRFG_0
42007 LA_NCtrl_bSetSpeedCcw
42008 LA_NCtrl_bJogSpeed1
42009 LA_NCtrl_bJogSpeed2
42010 LA_NCtrl_bJogSpeed4
42011 LA_NCtrl_bJogSpeed8
42012 LA_NCtrl_bJogRamp1
42013 LA_NCtrl_bJogRamp2
42014 LA_NCtrl_bJogRamp4
42015 LA_NCtrl_bJogRamp8
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
8400 HighLine C | Software ManualParameter referenceParameter list | C00411
680 L Firmware 02.00 - DMS EN 3.0 - 05/2009
42017 LA_NCtrl_bMPOTInAct
42018 LA_NCtrl_bMPOTUp
42019 LA_NCtrl_bMPOTDown
42020 LA_NCtrl_bMBRKRelease
42021 LA_NCtrl_bMANJogPos
42022 LA_NCtrl_bMANJogNeg
42023 LA_NCtrl_bGPAnalogSwitchSet
42024 LA_NCtrl_bGPDigitalDelayIn
42025 LA_NCtrl_bGPLogicIn1
42026 LA_NCtrl_bGPLogicIn2
42027 LA_NCtrl_bGPLogicIn3
42028 LA_NCtrl_bGPDFlipFlopInD
42029 LA_NCtrl_bGPDFlipFlopInClk
42030 LA_NCtrl_bGPDFlipFlopInClr
42031 LA_NCtrl_bMPotEnable
42032 LA_NCtrl_bPIDEnableInfluenceRamp
42033 LA_NCtrl_bPIDIOff
42034 LA_NCtrl_bRLQCw
42035 LA_NCtrl_bRLQCcw
42100 LA_TabPos_In_bCInh
42101 LA_TabPos_In_bFailReset
42102 LA_TabPos_In_bSetQuickstop
42103 LA_TabPos_In_bSetSpeedCcw
42104 LA_TabPos_In_bJogSpeed1
42105 LA_TabPos_In_bJogSpeed2
42106 LA_TabPos_In_bMPotEnable
42107 LA_TabPos_In_bMPotUp
42108 LA_TabPos_In_bMPotDown
42109 LA_TabPos_In_bMBrakeRelease
42110 LA_TabPos_In_bPosCtrlOn
42111 LA_TabPos_In_bLimitSwitchPos
42112 LA_TabPos_In_bLimitSwitchNeg
42113 LA_TabPos_In_bReleaseLimitSwitch
42114 LA_TabPos_In_bManJogPos
42115 LA_TabPos_In_bManJogNeg
42116 LA_TabPos_In_bManEnable2ndSpeed
42117 LA_TabPos_In_bEnableSpeedOverride
42118 LA_TabPos_In_bEnableAccOverride
42119 LA_TabPos_In_bHomeStartStop
42120 LA_TabPos_In_bHomeSetPosition
42121 LA_TabPos_In_bHomeResetPosition
42122 LA_TabPos_In_bHomeMark
42123 LA_TabPos_In_bPosSetProfilePosition
42124 LA_TabPos_In_bPosSetActualPosition
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 681
8400 HighLine C | Software ManualParameter reference
Parameter list | C00411
42125 LA_TabPos_In_bPosExecute
42126 LA_TabPos_In_bPosFinishTarget
42127 LA_TabPos_In_bPosDisableFollowProfile
42128 LA_TabPos_In_bPosStop
42129 LA_TabPos_In_bGPAnalogSwitchSet
42130 LA_TabPos_In_bGPDigitalDelayIn
42131 LA_TabPos_In_bGPLogicIn1
42132 LA_TabPos_In_bGPLogicIn2
42133 LA_TabPos_In_bGPLogicIn3
42134 LA_TabPos_In_bGPDFlipFlop_InD
42135 LA_TabPos_In_bGPDFlipFlop_InClk
42136 LA_TabPos_In_bGPDFlipFlop_InClr
42137 LA_TabPos_In_bGPCounter1ClkUp
42138 LA_TabPos_In_bGPCounter1ClkDown
42139 LA_TabPos_In_bGPCounter1Load
42140 LA_TabPos_In_bMckOperationMode_1
42141 LA_TabPos_In_bMckOperationMode_2
42142 LA_TabPos_In_bMckOperationMode_4
42143 LA_TabPos_In_bMckOperationMode_8
42144 LA_TabPos_In_bPosProfileNo_1
42145 LA_TabPos_In_bPosProfileNo_2
42146 LA_TabPos_In_bPosProfileNo_4
42147 LA_TabPos_In_bPosProfileNo_8
42148 LA_TabPos_In_bFreeIn1
42149 LA_TabPos_In_bFreeIn2
42150 LA_TabPos_In_bFreeIn3
42151 LA_TabPos_In_bFreeIn4
42152 LA_TabPos_In_bFreeIn5
42153 LA_TabPos_In_bFreeIn6
42154 LA_TabPos_In_bFreeIn7
42155 LA_TabPos_In_bFreeIn8
Subcodes Lenze setting Information
C00411/1 0: Not connected Signal source for output bOut1
C00411/2 0: Not connected Signal source for output bOut2
C00411/3 0: Not connected Signal source for output bOut3
C00411/4 0: Not connected Signal source for output bOut4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16
Index: 24164d = 5E64h
8400 HighLine C | Software ManualParameter referenceParameter list | C00412
682 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00412
C00413
C00420
Parameter | Name:
C00412 | L_SignalMonitor_b: InversionData type: UNSIGNED_8
Index: 24163d = 5E63h
FB L_SignalMonitor_b: Inversion of the binary outputs
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x00 (decimal: 0)
Value is bit-coded: ( = bit set) Information
Bit 0 bOut1 inverted Bit set = inversion active
Bit 1 bOut2 inverted
Bit 2 bOut3 inverted
Bit 3 bOut4 inverted
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00413 | L_SignalMonitor_a offs./gainData type: INTEGER_16Index: 24162d = 5E62h
FB L_SignalMonitor_a: Gain and offset of the analog signals
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00413/1 0.00 % Offset for output nOut1_a
C00413/2 100.00 % Gain for output nOut1_a
C00413/3 0.00 % Offset for output nOut2_a
C00413/4 100.00 % Gain for output nOut2_a
C00413/5 0.00 % Offset for output nOut3_a
C00413/6 100.00 % Gain for output nOut3_a
C00413/7 0.00 % Offset for output nOut4_a
C00413/8 100.00 % Gain for output nOut4_a
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00420 | Encoder number of incrementsData type: UNSIGNED_16
Index: 24155d = 5E5Bh
Indication of the encoder constant
Setting range (min. value | unit | max. value)
1 Inc/rev. 8192
Subcodes Lenze setting Information
C00420/1 128 Inc/rev. Encoder increments at FreqIn12
C00420/2 128 Inc/rev. Encoder increments at FreqIn67
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 683
8400 HighLine C | Software ManualParameter reference
Parameter list | C00423
C00423
C00425
Parameter | Name:
C00423 | DigOut: Delay timesData type: UNSIGNED_16
Index: 24152d = 5E58h
Delay times for the digital outputsI/O terminals
Setting range (min. value | unit | max. value)
0.000 s 65.000
Subcodes Lenze setting Information
C00423/1 0.000 s Relay ON delay
C00423/2 0.000 s Relay OFF delay
C00423/3 0.000 s DO1 ON delay
C00423/4 0.000 s DO1 OFF delay
C00423/5 0.000 s DO2 ON delay
C00423/6 0.000 s DO2 OFF delay
C00423/7 0.000 s DO3 ON delay
C00423/8 0.000 s DO3 OFF delay
C00423/9 0.000 s DO "High Current" ON delay
C00423/10 0.000 s DO "High Current" OFF delay
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00425 | Encoder sample timeData type: UNSIGNED_8
Index: 24150d = 5E56h
As of version 02.00.00Encoder sample time for the digital inputs when configured as frequency inputs
I/O terminals
Selection list
0 1 ms
1 2 ms
2 5 ms
3 10 ms
4 20 ms
5 50 ms
6 100 ms
7 200 ms
8 500 ms
9 1000 ms
Subcodes Lenze setting Information
C00425/1 3: 10 ms Encoder sample time FreqIn12 • Only active if C00496 = 3)
C00425/2 3: 10 ms Encoder sample time FreqIn67
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00434
684 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00434
C00435
C00436
C00437
Parameter | Name:
C00434 | OxU/I: GainData type: INTEGER_16Index: 24141d = 5E4Dh
Gain of the analog outputsI/O terminals
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00434/1 100.00 % O1U: gain
C00434/2 100.00 % O2U: Gain
C00434/3 100.00 % O1I: Gain
C00434/4 100.00 % O2I: Gain
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00435 | OxU/I: OffsetData type: INTEGER_16Index: 24140d = 5E4Ch
Offset of the analog outputsI/O terminals
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00435/1 0.00 % O1U: offset
C00435/2 0.00 % O2U: Offset
C00435/3 0.00 % O1I: Offset
C00435/4 0.00 % O2I: Offset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00436 | OxU: VoltageData type: INTEGER_16Index: 24139d = 5E4Bh
Display of the voltage at the analog outputsI/O terminals
Display range (min. value | unit | max. value)
0.00 V 10.00
Subcodes Information
C00436/1 O1U: voltage
C00436/2 O2U: Voltage
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00437 | OxI: CurrentData type: INTEGER_32Index: 24138d = 5E4Ah
Display of the current at the analog outputsI/O terminals
Display range (min. value | unit | max. value)
0.000 mA 20.000
Subcodes Information
C00437/1 O1I: Current
C00437/2 O2I: Current
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 685
8400 HighLine C | Software ManualParameter reference
Parameter list | C00439
C00439
C00440
Parameter | Name:
C00439 | OxU/I: Input valueData type: INTEGER_16Index: 24136d = 5E48h
Display of the input values for the analog outputsI/O terminals
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00439/1 O1U: input value
C00439/2 O2U: Input value
C00439/3 O1I: Input value
C00439/4 O2I: Input value
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00440 | LS_AnalogIn1: PT1 time constantData type: UNSIGNED_16
Index: 24135d = 5E47h
PT1 time constant (S-ramp time) for the analog inputsI/O terminals
Setting range (min. value | unit | max. value)
0 ms 1000
Subcodes Lenze setting Information
C00440/1 10 ms PT1 smoothening AnalogIn1
C00440/2 10 ms PT1 smoothening AnalogIn2
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00443
686 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00443Parameter | Name:
C00443 | DIx: levelData type: UNSIGNED_16
Index: 24132d = 5E44h
Bit-coded display of the level of the digital inputsI/O terminals
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 DI1 Bit set = HIGH level
Bit 1 DI2
Bit 2 DI3
Bit 3 DI4
Bit 4 DI5
Bit 5 DI6
Bit 6 DI7
Bit 7 Reserve
Bit 8 Reserve
Bit 9 Reserve
Bit 10 Reserve
Bit 11 Reserve
Bit 12 Reserve
Bit 13 Reserve
Bit 14 Reserve
Bit 15 CINH
Subcodes Information
C00443/1 DIx: terminal level
C00443/2 DIx: output level
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 687
8400 HighLine C | Software ManualParameter reference
Parameter list | C00444
C00444
C00445
C00446
Parameter | Name:
C00444 | DOx: levelData type: UNSIGNED_16
Index: 24131d = 5E43h
Bit-coded display of the level of the digital outputsI/O terminals
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 Relay Bit set = HIGH level
Bit 1 DO1
Bit 2 DO2
Bit 3 DO3
Bit 4 High current
Bit 5 Reserve
Bit 6 Reserve
Bit 7 Reserve
Bit 8 Reserve
Bit 9 Reserve
Bit 10 Reserve
Bit 11 Reserve
Bit 12 Reserve
Bit 13 Reserve
Bit 14 Reserve
Bit 15 Reserve
Subcodes Information
C00444/1 DOx: input level
C00444/2 DOx: terminal level
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00445 | FreqInxx_nOut_vData type: INTEGER_16Index: 24130d = 5E42h
Display of the frequency input signals supplied into the application.
Display range (min. value | unit | max. value)
-32767 Incr./ms 32767
Subcodes Information
C00445/1 FreqIn12_nOut_v
C00445/2 FreqIn67_nOut_v
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00446 | FreqInxx_nOut_aData type: INTEGER_16Index: 24129d = 5E41h
Display of the frequency input signals supplied into the application.
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00446/1 FreqIn12_nOut_a
C00446/2 FreqIn67_nOut_a
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00455
688 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00455
C00456
C00458
C00465
C00466
C00467
C00468
Parameter | Name:
C00455 | FB_call tableData type: UNSIGNED_16
Index: 24120d = 5E38h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00456 | Editor levelData type: UNSIGNED_8
Index: 24119d = 5E37h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00458 | SYS_call tableData type: UNSIGNED_16
Index: 24117d = 5E35h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00465 | Keypad: Time-out welcome screenData type: INTEGER_32Index: 24110d = 5E2Eh
Time setting for the automatic change of the keypad display to the welcome screen
Selection list (Lenze setting printed in bold)
0 Never display welcome screen
5 5 rpm
15 15 rpm
30 30 rpm
60 60 rpm
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00466 | Keypad: default parameterData type: INTEGER_32Index: 24109d = 5E2Dh
Setting of the default parameters for the keypad
Setting range (min. value | unit | max. value) Lenze setting
0 65535 51
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00467 | Keypad: default welcome screenData type: INTEGER_32Index: 24108d = 5E2Ch
Selection of the welcome screen for the keypad
Selection list (Lenze setting printed in bold)
0 Main menu
1 Parameter list
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00468 | Service codeData type: INTEGER_32Index: 24107d = 5E2Bh
This code is for device-internal use only and must not be written to by the user!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 689
8400 HighLine C | Software ManualParameter reference
Parameter list | C00469
C00469
C00470
C00471
Parameter | Name:
C00469 | Keypad: STOP key functionData type: INTEGER_32Index: 24106d = 5E2Ah
Selection of the function for the STOP key on the keypad
Selection list (Lenze setting printed in bold) Information
0 No function STOP key has no function
1 Inhibit controller STOP key sets controller inhibit in the drive
2 Activate quick stop STOP key sets quick stop in the drive
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00470 | LS_ParFree_bData type: UNSIGNED_8
Index: 24105d = 5E29h
SB LS_ParFree_b: Setting of the signal level to be output
Selection list
0 False
1 True
Subcodes Lenze setting Information
C00470/1 0: False Signal level for output bPar1 ... bPar32
C00470/...
C00470/32
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00471 | LS_ParFreeData type: UNSIGNED_16
Index: 24104d = 5E28h
SB LS_ParFree: Setting of the words to be output
Setting range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Lenze setting Information
C00471/1 0 Value for output wPar1 ... wPar8
C00471/...
C00471/8
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00472
690 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00472
C00473
C00474
Parameter | Name:
C00472 | LS_ParFree_aData type: INTEGER_16Index: 24103d = 5E27h
SB LS_ParFree_a: Setting of the analog signals to be output
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00472/1 0.00 % Value for output nPar1_a
C00472/2 0.00 % Value for output nPar2_a
C00472/3 100.00 % Value for output nPar3_a
C00472/4 100.00 % Value for output nPar4_a
C00472/5 0.00 % Value for output nPar5_a
C00472/6 0.00 % Value for output nPar6_a
C00472/7 0.00 % Value for output nPar7_a
C00472/8 0.00 % Value for output nPar8_a
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00473 | LS_ParFree_vData type: INTEGER_16Index: 24102d = 5E26h
SB LS_ParFree_v: Setting of the speed signals to be output
Setting range (min. value | unit | max. value)
-32767 Incr./ms 32767
Subcodes Lenze setting Information
C00473/1 0 incr./ms Values for output nPar1_v ... nPar8_v
C00473/...
C00473/8
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00474 | LS_ParFree_pData type: INTEGER_32Index: 24101d = 5E25h
SB LS_ParFree_p: Setting of the position signals to be output
Setting range (min. value | unit | max. value)
-2147483647 Incr. 2147483647
Subcodes Lenze setting Information
C00474/1 0 incr. Values for output dnPar1_p ... dnPar8_p
C00474/...
C00474/8
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 691
8400 HighLine C | Software ManualParameter reference
Parameter list | C00480
C00480
C00481
C00482
C00483
Parameter | Name:
C00480 | LS_DisFree_bData type: UNSIGNED_16
Index: 24095d = 5E1Fh
SB LS_DisFree_b: Display of the input values
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 bDis1 Signal level input bDis1 ... bDis16
... ...
Bit 15 bDis16
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00481 | LS_DisFreeData type: UNSIGNED_16
Index: 24094d = 5E1Eh
SB LS_DisFree: Display of the input values
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00481/1 Input values wDis1 ... wDis8
C00481/...
C00481/8
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00482 | LS_DisFree_aData type: INTEGER_16Index: 24093d = 5E1Dh
SB LS_DisFree_a: Display of the input values
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00482/1 Input values nDis1_a ... nDis8_a
C00482/...
C00482/8
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00483 | LS_DisFree_pData type: INTEGER_32Index: 24092d = 5E1Ch
SB LS_DisFree_p: Display of the input values
Display range (min. value | unit | max. value)
-2147483647 incr 2147483647
Subcodes Information
C00483/1 Input values dnDis1_p ... dnDis8_p
C00483/...
C00483/8
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00488
692 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00488
C00490
C00495
Parameter | Name:
C00488 | L_JogCtrlEdgeDetectData type: UNSIGNED_8
Index: 24087d = 5E17h
As of version 02.00.00FB L_JogCtrlExtension_1: Signal methodology • Selection whether the corresponding function is to be activated by edge or level.
Selection list
0 Level
1 Edge
Subcodes Lenze setting Information
C00488/1 0: Level InputSens.SlowDown1 • Selection of edge or level for starting slow-down
function 1
C00488/2 0: Level InputSens.Stop1 • Selection of edge or level for stop function 1
C00488/3 0: Level InputSens.SlowDown2 • Selection of edge or level for starting slow-down
function 2
C00488/4 0: Level InputSens.Stop2 • Selection of edge or level for stop function 2
C00488/5 0: Level InputSens.SlowDown3 • Selection of edge or level for starting slow-down
function 3
C00488/6 0: Level InputSens.Stop3 • Selection of edge or level for stop function 3
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00490 | Position encoder selectionData type: UNSIGNED_8
Index: 24085d = 5E15h
Selection of the feedback system for the generation of the actual position on the load
Selection list (Lenze setting printed in bold) Information
0 No sensor No encoder available on the load
1 Sensor signal FreqIn12 Position encoder signal is fed via digital inputs DI1 and DI2
2 Encoder signal FreqIn67 Position encoder signal is fed via digital inputs DI6 and DI7
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00495 | Speed sensor selectionData type: UNSIGNED_8
Index: 24080d = 5E10h
Selection of the feedback system for the actual speed for motor control and display
Selection list (Lenze setting printed in bold) Information
0 No sensor No encoder available for the actual speed detection
1 Sensor signal FreqIn12 Speed encoder signal is fed via digital inputs DI1 and DI2
2 Sensor signal FreqIn67 Speed encoder signal is fed via digital inputs DI6 and DI7
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 693
8400 HighLine C | Software ManualParameter reference
Parameter list | C00496
C00496
C00497
C00516
Parameter | Name:
C00496 | Encoder evaluation procedureData type: UNSIGNED_8
Index: 24079d = 5E0Fh
Selection list (Lenze setting printed in bold) Information
0 High-resolution encoders High-precision procedure for high-resolution encoders (>=512 increments)
1 Low-resolution encoders (StateLine) High-precision procedure for low-resolution encoders (<=128 increments)
2 Comb. encoder procedure Combination of the first two procedures as a function of the speed (recommended procedure)
3 Edge counting procedure Simple edge counting procedure with adjustable scan time (C00425)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00497 | Nact filter time constantData type: UNSIGNED_16
Index: 24078d = 5E0Eh
Setting range (min. value | unit | max. value)
0.0 ms 500.0
Subcodes Lenze setting Information
C00497/1 0.5 ms Encoder filter time FreqIn12
C00497/2 0.5 ms Encoder filter time FreqIn67
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00516 | ChecksumsData type: UNSIGNED_32
Index: 24059d = 5DFBh
This code is for device-internal use only and must not be written to by the user!
8400 HighLine C | Software ManualParameter referenceParameter list | C00517
694 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00517Parameter | Name:
C00517 | User menuData type: INTEGER_32Index: 24058d = 5DFAh
When a system is installed, parameters must be changed time and again until the system runs satsifactorily. The user menu of a device serves to create a selection of frequently used parameters to be able to access and change these parameters quickly. • Format: <code number>,<subcode number> • For setting "0.000" no entry is displayed in the user menu.
Setting range (min. value | unit | max. value)
0.000 16000.000
Subcodes Lenze setting Information
C00517/1 51.000 C00051: Display of actual speed value
C00517/2 53.000 C00053: Display of DC-bus voltage
C00517/3 54.000 C00054: Display of motor current
C00517/4 61.000 C00061: Display of heatsink temperature
C00517/5 137.000 C00137: Display of device state
C00517/6 0.000 User menu: entry 6
C00517/7 0.000 User menu: entry 7
C00517/8 11.000 C00011: Reference speed
C00517/9 39.001 C00039/1: Fixed setpoint 1
C00517/10 39.002 C00039/2: Fixed setpoint 2
C00517/11 12.000 C00012: Acceleration time - main setpoint
C00517/12 13.000 C00013: Deceleration time - main setpoint
C00517/13 15.000 C00015: V/f base frequency
C00517/14 16.000 C00016: Vmin boost
C00517/15 22.000 C00022: Imax in motor mode
C00517/16 120.000 C00120: Motor overload threshold (I2xt)
C00517/17 87.000 C00087: Rated motor speed
C00517/18 99.000 C00099: Display of firmware version
C00517/19 200.000 C00200: Display of firmware product type
C00517/20 0.000 User menu: entry 20
C00517/21 0.000 User menu: entry 21
C00517/22 0.000 User menu: entry 22
C00517/23 0.000 User menu: entry 23
C00517/24 0.000 User menu: entry 24
C00517/25 0.000 User menu: entry 25
C00517/26 0.000 User menu: entry 26
C00517/27 0.000 User menu: entry 27
C00517/28 0.000 User menu: entry 28
C00517/29 0.000 User menu: entry 29
C00517/30 0.000 User menu: entry 30
C00517/31 0.000 User menu: entry 31
C00517/32 0.000 User menu: entry 32
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 695
8400 HighLine C | Software ManualParameter reference
Parameter list | C00560
C00560
C00561
C00565
C00566
Parameter | Name:
C00560 | Fan switching statusData type: UNSIGNED_8
Index: 24015d = 5DCFh
Function status display of device fan
Selection list
0 Off
1 On
2 No fan
Subcodes Information
C00560/1 Switching status - internal fan
C00560/2 Switching status - heatsink fan
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00561 | Fan failureData type: UNSIGNED_8
Index: 24014d = 5DCEh
Error status display of device fan
Selection list
0 No error
1 Fault
Subcodes Information
C00561/1 Failure of internal fan
C00561/2 Failure of heatsink fan
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00565 | Resp. to mains phase failureData type: UNSIGNED_8
Index: 24010d = 5DCAh
Response to the failure of mains-phases
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00566 | Resp. to fan failureData type: UNSIGNED_8
Index: 24009d = 5DC9h
Response to the detection of a fan failure
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00567
696 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00567
C00569
C00570
C00572
Parameter | Name:
C00567 | Speed controller resp. limitedData type: UNSIGNED_8
Index: 24008d = 5DC8h
Response for limitation of the speed controller output (bLimSpeedCtrlOut = TRUE)
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00569 | Resp. to peak currentData type: UNSIGNED_8
Index: 24006d = 5DC6h
Configuration of monitoring of the motor control (group 1)
Selection list
0 No Reaction
1 Fault
5 Warning
Subcodes Lenze setting Information
C00569/1 0: No Reaction Response for overcurrent detection and clamp operation
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00570 | Resp. to controller limitationsData type: UNSIGNED_8
Index: 24005d = 5DC5h
Configuration of monitoring of the motor control (group 2)
Selection list
0 No Reaction
1 Fault
5 Warning
Subcodes Lenze setting Information
C00570/1 0: No Reaction Response for limitation in the direct-axis current controller • e.g. for SC (servo control) mode
C00570/2 0: No Reaction Response for limitation in the cross-current controller • e.g. for SC (servo control) mode
C00570/3 0: No Reaction Response for limitation of the torque setpoint • Limitation of the speed controller output, the
differential setpoint precontrol, and of the additive torque for SC (servo control) and SLVC (vector control) modes.
C00570/4 0: No Reaction Response for limitation in the field controller
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00572 | Brake resistor overload thresholdData type: UNSIGNED_8
Index: 24003d = 5DC3h
As of version 02.00.00Adjustable threshold for monitoring the brake resistor utilisation • The response for reaching the threshold can be selected in C00574.
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 100 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 697
8400 HighLine C | Software ManualParameter reference
Parameter list | C00574
C00574
C00576
C00577
C00578
C00579
Parameter | Name:
C00574 | Resp. to brake resist. overtemp.Data type: UNSIGNED_8
Index: 24001d = 5DC1h
Response when reaching the threshold for the brake resistor utilisation set in C00572.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00576 | SC: Field feedforward controlData type: UNSIGNED_16
Index: 23999d = 5DBFh
Point of action of the direct-axis current setpoint precontrol for an early reduction of the field current. In this way, the acceleration behaviour can be improved in the field weakening range. • The entry [%] refers to the slip of the asynchronous motor.
Setting range (min. value | unit | max. value) Lenze setting
0 % 600 200 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00577 | SC: Vp field weaken. controllerData type: UNSIGNED_16
Index: 23998d = 5DBEh
Proportional gain of the field weakening controller • When "0" is set, the P component of the controller is deactivated. • The recommended setting is in the range between 0 and 0.0020
Setting range (min. value | unit | max. value) Lenze setting
0.0000 2.0000 0.0010
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C00578 | SC: Tn field weaken. controllerData type: UNSIGNED_16
Index: 23997d = 5DBDh
Time constant of the field weakening controller • The recommended setting is in the range between 10 and 30 ms
Setting range (min. value | unit | max. value) Lenze setting
0.1 ms 6000.0 20.0 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00579 | Resp. to speed monitoringData type: UNSIGNED_8
Index: 23996d = 5DBCh
Response for reaching the maximum actual speed limits • These result from the max. input frequency of the digital inputs and the number of encoder increments.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00581
698 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00581
C00582
C00585
Parameter | Name:
C00581 | Resp. LS_SetError_xData type: UNSIGNED_8
Index: 23994d = 5DBAh
SB LS_SetError_1-2: Selection of the error responses for application error messages • An application error message is tripped by a FALSE-TRUE edge at the binary inputs bSetError1...4.
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
Subcodes Lenze setting Information
C00581/1 0: No Reaction Resp. LS_SetError_1 bSetError1
C00581/2 0: No Reaction Resp. LS_SetError_1 bSetError2
C00581/3 0: No Reaction Resp. LS_SetError_1 bSetError3
C00581/4 0: No Reaction Resp. LS_SetError_1 bSetError4
C00581/5 0: No Reaction Resp. LS_SetError_2 bSetError1
C00581/6 0: No Reaction Resp. LS_SetError_2 bSetError2
C00581/7 0: No Reaction Resp. LS_SetError_2 bSetError3
C00581/8 0: No Reaction Resp. LS_SetError_2 bSetError4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00582 | Resp. to heatsink temp. > shutdown temp. -5°CData type: UNSIGNED_8
Index: 23993d = 5DB9h
Response when the heatsink temperature has reached the shutdown temperature threshold.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00585 | Resp. to motor overtemp. PTCData type: UNSIGNED_8
Index: 23990d = 5DB6h
Response to motor overtemperature • The motor temperature is measured by means of a PTC thermistor at terminal X106.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 699
8400 HighLine C | Software ManualParameter reference
Parameter list | C00586
C00586
C00588
C00590
C00592
Parameter | Name:
C00586 | Resp. to encoder wire breakageData type: UNSIGNED_8
Index: 23989d = 5DB5h
Response for a failure of the encoder feedback system or the encoder feedback system track due to an open circuit
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00588 | Resp. to max speed at switch. freqData type: UNSIGNED_8
Index: 23987d = 5DB3h
Response for reaching the maximum speed for the set inverter switching frequency (C00018)
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00590 | Resp. to switch. frequency red.Data type: UNSIGNED_8
Index: 23985d = 5DB1h
Response to reduction of the inverter switching frequency (C00018)
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00592 | Resp. to CAN bus connectionData type: UNSIGNED_8
Index: 23983d = 5DAFh
Configuration of monitoring of the CAN interface (group 1)System bus "CAN on board"
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
Subcodes Lenze setting Information
C00592/1 0: No Reaction Response to incorrect telegram for CAN communication
C00592/2 0: No Reaction Response to "BusOff" (bus system switched off)
C00592/3 0: No Reaction Response to warnings of the CAN controller
C00592/4 0: No Reaction Response to communication stop of a CAN bus node
C00592/5 0: No Reaction Response to an event in the case of monitoring via heartbeat protocol
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00593
700 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00593
C00594
Parameter | Name:
C00593 | Resp. to CANx_IN monitoringData type: UNSIGNED_8
Index: 23982d = 5DAEh
Configuration of monitoring of the CAN interface (group 2)System bus "CAN on board"
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
Subcodes Lenze setting Information
C00593/1 0: No Reaction Response if the monitoring time set in C00357/1 for the reception of the PDO CAN1_IN is exceeded.
C00593/2 0: No Reaction Response if the monitoring time set in C00357/2 for the reception of the PDO CAN2_IN is exceeded.
C00593/3 0: No Reaction Response if the monitoring time set in C00357/3 for the reception of the PDO CAN3_IN is exceeded.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00594 | Resp. to control word errorData type: UNSIGNED_8
Index: 23981d = 5DADh
Configuration of monitoring of the device control
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
5 Warning
Subcodes Lenze setting Information
C00594/1 1: Fault Response if error bit 14 in the CAN control word is set.
C00594/2 1: Fault Response if error bit 14 in the MCI control word is set.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 701
8400 HighLine C | Software ManualParameter reference
Parameter list | C00595
C00595
C00597
Parameter | Name:
C00595 | MCK: Resp. to MCK errorData type: UNSIGNED_8
Index: 23980d = 5DACh
Configuration of monitoring of the MotionControlKernel
Selection list
0 No Reaction
1 Fault
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
Subcodes Lenze setting Information
C00595/1 3: TroubleQuickStop Response if the input bLimitSwitchPos for travel range monitoring is set to FALSE (fail-safe) by the positive hardware limit switch .
C00595/2 3: TroubleQuickStop Response if the input bLimitSwitchNeg for travel range monitoring is set to FALSE (fail-safe) by the negative hardware limit switch .
C00595/3 3: TroubleQuickStop Response for detection that the position is beyond the positive software limit position (C01229/1).
C00595/4 3: TroubleQuickStop Response for detection that the position is beyond the negative software limit position (C01229/2).
C00595/5 5: Warning Response if following error limit 1 is exceeded (C01215/1)
C00595/6 5: Warning Response if following error limit 2 is exceeded (C01215/2)
C00595/7 3: TroubleQuickStop Response if the maximum travel distance (display in C01213/1) is exceeded
C00595/8 4: WarningLocked Response to start procedures with reference condition when the reference is not set
C00595/9 4: WarningLocked Response to a non-supported positioning mode
C00595/10 4: WarningLocked Response to implausible profile set data
C00595/11 5: Warning Response to the selection of an invalid operating mode of the MCK
C00595/12 4: WarningLocked Response to indicating an invalid profile data set
C00595/13 5: Warning Response to an error of the FB L_MckCtrlInterface_1
C00595/14 4: WarningLocked Response to a profile start with a target position outside the software limit positions (C01229/1 and C01229/2).
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00597 | Resp. to motor phase failureData type: UNSIGNED_8
Index: 23978d = 5DAAh
Response to motor phase failure • If a phase current does not exceed the threshold set in C00599 over a period, the response set here is effected.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00598
702 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00598
C00599
C00600
C00601
Parameter | Name:
C00598 | Resp. to open circuit AINxData type: UNSIGNED_8
Index: 23977d = 5DA9h
Configuration of monitoring of the analog inputs
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
5 Warning
Subcodes Lenze setting Information
C00598/1 3: TroubleQuickStop Response to open circuit at AIN1 when being configured as 4 ... 20 mA-current loop
C00598/2 3: TroubleQuickStop Response to open circuit at AIN2 when being configured as 4 ... 20 mA-current loop
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00599 | Motor phase failure thresholdData type: INTEGER_16Index: 23976d = 5DA8h
Threshold for motor phase failure monitoring • 100 % ≡ rated inverter current (C00098) • If a phase current does not exceed the threshold set here over a period, the response to motor phase failure set
in C00597 is effected.
Setting range (min. value | unit | max. value) Lenze setting
1.00 % 100.00 5.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00600 | Resp. to DC-bus voltageData type: UNSIGNED_8
Index: 23975d = 5DA7h
Configuration of monitoring of the motor control (group 3)
Selection list
1 Fault
2 Trouble
Subcodes Lenze setting Information
C00600/1 2: Trouble Response to undervoltage in the DC bus
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00601 | Delayed resp. fault: DC-bus overvoltageData type: UNSIGNED_16
Index: 23974d = 5DA6h
Delay times for error responses
Setting range (min. value | unit | max. value)
0.000 s 65.000
Subcodes Lenze setting Information
C00601/1 2.000 s Delay time for error activation "DC-bus overvoltage" • In case of DC-bus overvoltage, an error is only
transmitted after this delay time has elapsed.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 703
8400 HighLine C | Software ManualParameter reference
Parameter list | C00602
C00602
C00604
C00606
C00607
C00608
Parameter | Name:
C00602 | Resp. to earth faultData type: UNSIGNED_8
Index: 23973d = 5DA5h
Response to earth fault in the motor phase(s)
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00604 | Resp. to device overload (Ixt)Data type: UNSIGNED_8
Index: 23971d = 5DA3h
Response if the adjustable device utilisation threshold (C00123) is reached. • The current device utilisation is displayed in C00064.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00606 | Resp. to motor overload (I²xt)Data type: UNSIGNED_8
Index: 23969d = 5DA1h
Response if the adjustable motor overload threshold (C00120) is reached. • The current thermal motor load is displayed in C00066.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00607 | React. max. speed reachedData type: UNSIGNED_8
Index: 23968d = 5DA0h
Response if the maximum speed limit (C00909) is reached.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00608 | Resp. to maximum torqueData type: UNSIGNED_8
Index: 23967d = 5D9Fh
Response if the maximum torque (C00057) is reached.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00609
704 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00609
C00610
C00611
C00612
C00613
C00615
C00617
Parameter | Name:
C00609 | Resp. to maximum currentData type: UNSIGNED_8
Index: 23966d = 5D9Eh
Response if the maximum current (C00022, C00023) is reached.
Selection list (Lenze setting printed in bold)
0 No Reaction
1 Fault
5 Warning
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00610 | 16-bit connection tableData type: UNSIGNED_16
Index: 23965d = 5D9Dh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00611 | Bool connection tableData type: UNSIGNED_16
Index: 23964d = 5D9Ch
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00612 | 32-bit connection tableData type: UNSIGNED_16
Index: 23963d = 5D9Bh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00613 | Connect. table 16-bit AdditionalFBsHLData type: UNSIGNED_16
Index: 23962d = 5D9Ah
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00615 | Connect. table Bool AdditionalFBsHLData type: UNSIGNED_16
Index: 23960d = 5D98h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00617 | Connect. table 32-bit AdditionalFBsHLData type: UNSIGNED_16
Index: 23958d = 5D96h
This code is for device-internal use only and must not be written to by the user!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 705
8400 HighLine C | Software ManualParameter reference
Parameter list | C00620
C00620Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
Connection parameters: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals. • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1000 LA_nCtrl_wDriveControlStatus
1001 LA_nCtrl_wFailNumber
1002 LA_nCtrl_nMotorCurrent_a
1003 LA_nCtrl_nMotorSpeedAct_a
1006 LA_nCtrl_nGPAnalogSwitchOut_a
1007 LA_nCtrl_nGPArithmetikOut_a
1008 LA_nCtrl_nGPMulDivOut_a
1009 LA_nCtrl_nGPSignalOut1_a
1010 LA_nCtrl_nGPSignalOut2_a
1011 LA_nCtrl_nGPSignalOut3_a
1012 LA_nCtrl_nGPSignalOut4_a
1013 LA_nCtrl_nMotorTorqueAct_a
1014 LA_nCtrl_nDCVoltage_a
1015 LA_nCtrl_nMotorVoltage_a
1016 LA_nCtrl_nMotorSpeedSet_a
1017 LA_nCtrl_wFailTypeDomain
1100 LA_TabPos_wDriveControlStatus
1101 LA_TabPos_wStateDetermFailNoLow
1102 LA_TabPos_wStateDetermFailNoHigh
1103 LA_TabPos_nMotorCurrent_a
1104 LA_TabPos_nMotorSpeedSet_a
1105 LA_TabPos_nMotorSpeedAct_a
1106 LA_TabPos_nMotorTorqueAct_a
1107 LA_TabPos_nDCVoltage_a
1108 LA_TabPos_nMotorVoltage_a
1109 LA_TabPos_wMckState1
1110 LA_TabPos_wMckState2
1111 LA_TabPos_wMckActOperationMode
1112 LA_TabPos_wActProfileNo
1113 LA_TabPos_wActPosMode
1114 LA_TabPos_nGPAnalogSwitchOut_a
1115 LA_TabPos_nGPArithmetikOut_a
1116 LA_TabPos_nGPMulDivOut_a
1117 LA_TabPos_nGPSignalOut1_a
1118 LA_TabPos_nGPSignalOut2_a
1119 LA_TabPos_nGPSignalOut3_a
1120 LA_TabPos_nGPSignalOut4_a
1121 LA_TabPos_wGPCounter1Out
1122 LA_TabPos_wFreeOut1
8400 HighLine C | Software ManualParameter referenceParameter list | C00620
706 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1123 LA_TabPos_wFreeOut2
1124 LA_TabPos_wFreeOut3
1125 LA_TabPos_wFreeOut4
1126 LA_TabPos_nPosCtrlOutLimit_a
1127 LA_TabPos_nPosCtrlPAdapt_a
16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16014 DIGIN_wCountIn1_LW
16015 DIGIN_wCountIn1_HW
16016 DIGIN_nFreqIn12_a
16017 DIGIN_nFreqIn12_v
16018 DIGIN_wCountIn6_LW
16019 DIGIN_wCountIn6_HW
16020 DIGIN_nFreqIn67_a
16021 DIGIN_nFreqIn67_v
16100 LS_DataAccess_Out1
16101 LS_DataAccess_Out2
16102 LS_DataAccess_Out3
16103 LS_DataAccess_Out4
16104 LP_MciIn_wCtrl
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
16113 LP_MciIn_wIn10
16114 LP_MciIn_wIn11
16115 LP_MciIn_wIn12
16116 LP_MciIn_wIn13
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 707
8400 HighLine C | Software ManualParameter reference
Parameter list | C00620
16117 LP_MciIn_wIn14
16118 LP_MciIn_wIn15
16119 LP_MciIn_wIn16
16120 LS_Keypad_nTorqueMotLim_a
16121 LS_Keypad_nTorqueGenLim_a
16122 LS_Keypad_nMainSetValue_a
20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
32000 MCTRL_nMotorSpeedAct_a
32001 MCTRL_nOutputSpeedCtrl_a
32002 MCTRL_nInputJerkCtrl_a
32003 MCTRL_nInputTorqueCtrl_a
32004 MCTRL_nMotorTorqueAct_a
32005 MCTRL_nActualFluxx_a
32006 MCTRL_nDCVoltage_a
32007 MCTRL_nStatorCurrentIS_a
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
8400 HighLine C | Software ManualParameter referenceParameter list | C00620
708 L Firmware 02.00 - DMS EN 3.0 - 05/2009
32008 MCTRL_nEffCurrentIq_a
32009 MCTRL_nReaktCurrentId_a
32010 MCTRL_wMaxMotorSpeed
32011 MCTRL_wMaxMotorTorque
32012 MCTRL_nMotorVoltage_a
32013 MCTRL_nMotorFreqAct_a
32014 MCTRL_nEffSpeedSetValue_a
32015 MCTRL_nIxTRate_a
32016 MCTRL_nI2xTRate_a
32017 MCTRL_nOutputPosCtrl_a
32018 MCTRL_nHlgSetValue_a
32019 MCTRL_nMotorSpeedAct_v
32100 DCTRL_wDeviceStateWord
32101 DCTRL_wDeviceAuxStateWord
32102 DCTRL_wDetermFailNoLow
32103 DCTRL_wDetermFailNoHigh
32104 DCTRL_wFrei_2
32200 MCK_nSpeedSet_v
32201 MCK_nSpeedCtrlI_a
32202 MCK_nSpeedSetValue_a
32203 MCK_nTorqueSetValue_a
32204 MCK_wActProfileNo
32205 MCK_wFollowProfileNo
32206 MCK_wMotionState1
32207 MCK_wMotionState2
32208 MCK_wAuxState
32209 MCK_nPWMAngleOffset_a
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
36000 L_Absolut _Out_1
36001 L_AddSub_Out_1
36002 L_OffsetGain_Out_1
36003 L_OffsetGain_Out_2
36004 L_OffsetGainPar_1
36005 L_OffsetGainPar_2
36006 L_GainOffset_Out_1
36007 L_GainOffset_Out_2
36008 L_GainOffsetPar_1
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 709
8400 HighLine C | Software ManualParameter reference
Parameter list | C00620
36009 L_GainOffsetPar_2
36010 L_Negation_Out_1
36011 L_Aritmethik_Out_1
36012 L_Aritmethik_Out_2
36013 L_AnalogSwitch_Out_1
36014 L_AnalogSwitch_Out_2
36015 L_AnalogSwitch_Out_3
36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36019 L_MotorPoti_1_Out
36020 L_PCTRL_1_Out
36021 L_SigMonitor_a_Out1
36022 L_SigMonitor_a_Out2
36023 L_NLim_1_nOut_a
36024 L_Counter_1_wOut
36025 L_OffsetGainPar_3
36026 L_GainOffsetPar_3
36027 L_SigMonitor_a_Out3
36028 L_SigMonitor_a_Out4
36029 L_MulDiv_1_nOut_a
36030 L_NLim_1_wState
36031 L_NSet_1_wState
36032 L_NSet_1_nSetValue
36033 L_PT1_1_nOut_a
36034 L_Absolut _Out_2
36035 L_AnalogSwitch_4_Out
36036 L_AnalogSwitch_5_Out
36037 L_Aritmethik_3_Out
36038 L_Aritmethik_4_Out
36039 L_Aritmethik_5_Out
36045 L_GainOffset_Out_3
36053 L_MulDiv_2_nOut_a
36054 L_Negation_2_Out
36055 L_NLim_2_nOut_a
36056 L_NLim_2_wState
36057 L_OffsetGain_Out_3
36058 L_PT1_2_nOut_a
36059 L_PT1_3_nOut_a
36064 L_SampleHold_1_nOut_a
36065 L_SampleHold_2_nOut_a
36068 L_Counter_2_wOut
36069 L_Counter_3_wOut
36073 L_DT1_1_nOut_a
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
8400 HighLine C | Software ManualParameter referenceParameter list | C00620
710 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36074 L_ConvBitsToWord_1_wOut
36075 L_ConvBitsToWord_2_wOut
36076 L_ConvBitsToWord_3_wOut
36077 L_ConvDIntToWords_1_wOutLWord
36078 L_ConvDIntToWords_1_wOutHWord
36079 L_ConvDIntToWords_2_wOutLWord
36080 L_ConvDIntToWords_2_wOutHWord
36081 L_ConvDIntToWords_3_wOutLWord
36082 L_ConvDIntToWords_3_wOutHWord
36083 L_MckCtrlInterface_1_wOutMckPosCtrl_1
36084 L_MckCtrlInterface_1_wOutMckPosCtrl_2
36085 L_MckCtrlInterface_1_wFailState
36086 L_MckStateInterface_1_wOperationMode
36087 L_MckStateInterface_1_wActProfileNo
36088 L_MckStateInterface_1_wActPosMode
36089 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_1
36090 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_2
36091 L_PCTRL_1_nPIDOut2_a
36092 L_PCTRL_1_nPIDOut_a
36093 L_PCTRL_1_nInfluenceOut_a
42000 LA_nCtrl_In_wCANDriveControl
42001 LA_nCtrl_In_wCCMDriveControl
42002 LA_nCtrl_In_nTorqueMotLim
42003 LA_nCtrl_In_nTorqueGenLim
42004 LA_nCtrl_In_nPIDVpAdapt_a
42005 LA_nCtrl_In_nPIDActValue_a
42006 LA_nCtrl_In_nMainSetValue
42007 LA_nCtrl_In_nAuxSetValue
42008 LA_nCtrl_In_nGPAnalogSwitchIn1_a
42009 LA_nCtrl_In_nGPAnalogSwitchIn2_a
42010 LA_nCtrl_In_nGPArithmetikIn1_a
42011 LA_nCtrl_In_nGPArithmetikIn2_a
42012 LA_nCtrl_In_nGPMulDivIn_a
42013 LA_nCtrl_In_nGPCompareIn1_a
42014 LA_nCtrl_In_nGPCompareIn2_a
42015 LA_nCtrl_In_nVoltageAdd_a
42016 LA_nCtrl_In_nPIDInfluence_a
42017 LA_nCtrl_In_nPIDSetValue_a
42018 LA_nCtrl_In_nPWMAngleOffset_a
42100 LA_TabPos_In_wCanDriveControl
42101 LA_TabPos_In_wMciDriveControl
42102 LA_TabPos_In_nTorqueMotLim_a
42103 LA_TabPos_In_nTorqueGenLim_a
42104 LA_TabPos_In_nMainSetValue_a
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 711
8400 HighLine C | Software ManualParameter reference
Parameter list | C00620
42105 LA_TabPos_In_nAuxSetValue_a
42106 LA_TabPos_In_wMckCtrl1
42107 LA_TabPos_In_wMckCtrl2
42108 LA_TabPos_In_wMckOperationMode
42109 LA_TabPos_In_wPosProfileMode
42110 LA_TabPos_In_wPosProfileNo
42111 LA_TabPos_In_nGPAnalogSwitchIn1_a
42112 LA_TabPos_In_nGPAnalogSwitchIn2_a
42113 LA_TabPos_In_nGPArithmetikIn1_a
42114 LA_TabPos_In_nGPArithmetikIn2_a
42115 LA_TabPos_In_nGPMulDivIn_a
42116 LA_TabPos_In_nGPCompareIn1_a
42117 LA_TabPos_In_nGPCompareIn2_a
42118 LA_TabPos_In_wGPCounter1LdVal
42119 LA_TabPos_In_wGPCounter1CmpVal
42120 LA_TabPos_In_nSpeedOverride_a
42121 LA_TabPos_In_nAccOverride_a
42122 LA_TabPos_In_wFreeIn1
42123 LA_TabPos_In_wFreeIn2
42124 LA_TabPos_In_wFreeIn3
42125 LA_TabPos_In_wFreeIn4
Subcodes Lenze setting Information
C00620/1 1003: LA_nCtrl_nMotorSpeedAct_a LS_AnalogOutput: nOut1_a (V)
C00620/2 0: Not connected LP_CanOut1:wState
C00620/3 0: Not connected LP_CanOut1:wOut2
C00620/4 0: Not connected LP_CanOut1:wOut3
C00620/5 0: Not connected LP_CanOut1: wOut4
C00620/6 0: Not connected LP_CanOut2: wOut1
C00620/7 0: Not connected LP_CanOut2: wOut2
C00620/8 0: Not connected LP_CanOut2: wOut3
C00620/9 0: Not connected LP_CanOut2: wOut4
C00620/10 0: Not connected LP_CanOut3: wOut1
C00620/11 0: Not connected LP_CanOut3: wOut2
C00620/12 0: Not connected LP_CanOut3: wOut3
C00620/13 0: Not connected LP_CanOut3: wOut4
C00620/14 0: Not connected LS_DisFree_a:nDis1_a
C00620/15 0: Not connected LS_DisFree_a:nDis2_a
C00620/16 0: Not connected LS_DisFree_a:nDis3_a
C00620/17 0: Not connected LS_DisFree_a:nDis4_a
C00620/18 0: Not connected LS_DisFree:wDis1
C00620/19 0: Not connected LS_DisFree:wDis2
C00620/20 0: Not connected LS_DisFree:wDis3
C00620/21 0: Not connected LS_DisFree:wDis4
C00620/22 0: Not connected LP_MciOut:wState
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
8400 HighLine C | Software ManualParameter referenceParameter list | C00620
712 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00620/23 0: Not connected LP_MciOut:wOut2
C00620/24 0: Not connected LP_MciOut:wOut3
C00620/25 0: Not connected LP_MciOut: wOut4
C00620/26 0: Not connected LP_MciOut: wOut5
C00620/27 0: Not connected LP_MciOut: wOut6
C00620/28 0: Not connected LP_MciOut: wOut7
C00620/29 0: Not connected LP_MciOut: wOut8
C00620/30 0: Not connected LP_MciOut: wOut9
C00620/31 0: Not connected LP_MciOut: wOut10
C00620/32 0: Not connected LP_MciOut: wOut11
C00620/33 0: Not connected LP_MciOut: wOut12
C00620/34 0: Not connected LP_MciOut: wOut13
C00620/35 0: Not connected LP_MciOut: wOut14
C00620/36 0: Not connected LP_MciOut: wOut15
C00620/37 0: Not connected LP_MciOut: wOut16
C00620/38 0: Not connected LS_AnalogOutput: nOut2_a (V)
C00620/39 0: Not connected LS_AnalogOutput: nOut1_a (I)
C00620/40 0: Not connected LS_AnalogOutput: nOut2_a (I)
C00620/41 0: Not connected LS_DisFree_a: nDis5_a
C00620/42 0: Not connected LS_DisFree_a: nDis6_a
C00620/43 0: Not connected LS_DisFree_a: nDis7_a
C00620/44 0: Not connected LS_DisFree_a: nDis8_a
C00620/45 0: Not connected LS_DisFree: wDis5
C00620/46 0: Not connected LS_DisFree: wDis6
C00620/47 0: Not connected LS_DisFree: wDis7
C00620/48 0: Not connected LS_DisFree: wDis8
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00620 | 16-bit system connectionData type: UNSIGNED_16
Index: 23955d = 5D93h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 713
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
C00621Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Connection parameters: Binary inputs • Selection of the binary output signals for connection with the binary input signals. • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1000 LA_nCtrl_bDriveReady
1001 LA_nCtrl_bDriveFail
1002 LA_nCtrl_bCInhActive
1003 LA_nCtrl_bQSPIsActive
1004 LA_nCtrl_bSpeedCcw
1005 LA_nCtrl_bSpeedActCompare
1008 LA_nCtrl_bGPDigitalDelayOut
1009 LA_nCtrl_bGPLogicOut
1010 LA_nCtrl_bGPSignalOut1
1011 LA_nCtrl_bGPSignalOut2
1012 LA_nCtrl_bGPSignalOut3
1013 LA_nCtrl_bGPSignalOut4
1014 LA_nCtrl_bOverLoadActive
1015 LA_nCtrl_bBrakeReleaseOut
1016 LA_nCtrl_bBrakeReleased
1017 LA_nCtrl_bGPCompareOut
1018 LA_nCtrl_bUnderLoadActive
1019 LA_nCtrl_bImaxActive
1020 LA_nCtrl_bSpeedSetReached
1021 LA_nCtrl_bSpeedActEqSet
1022 LA_nCtrl_bGPDFlipFlopOut
1023 LA_nCtrl_bGPDFlipFlopNegOut
1100 LA_TabPos_bDriveFail
1101 LA_TabPos_bDriveReady
1102 LA_TabPos_bCInhActive
1103 LA_TabPos_bQSPIsActive
1104 LA_TabPos_bSpeedCcw
1105 LA_TabPos_bSpeedActCompare
1106 LA_TabPos_bImaxActive
1107 LA_TabPos_bSpeedSetReached
1108 LA_TabPos_bMBrakeReleaseOut
1109 LA_TabPos_bMBrakeReleased
1110 LA_TabPos_bHomeDone
1111 LA_TabPos_bHomePosAvailable
1112 LA_TabPos_bProfileDone
1113 LA_TabPos_bProfileBusy
1114 LA_TabPos_bAccelerating
1115 LA_TabPos_bConstantDuty
1116 LA_TabPos_bDecelerating
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
714 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1117 LA_TabPos_bDwellTime
1118 LA_TabPos_bInTarget
1119 LA_TabPos_bGPDigitalDelayOut
1120 LA_TabPos_bGPLogicOut
1121 LA_TabPos_bGPCompareOut
1122 LA_TabPos_bGPSignalOut1
1123 LA_TabPos_bGPSignalOut2
1124 LA_TabPos_bGPSignalOut3
1125 LA_TabPos_bGPSignalOut4
1126 LA_TabPos_bGPDFlipFlop_Out
1127 LA_TabPos_bGPDFlipFlop_NegOut
1128 LA_TabPos_bGPCounter1Equal
1129 LA_TabPos_bFreeOut1
1130 LA_TabPos_bFreeOut2
1131 LA_TabPos_bFreeOut3
1132 LA_TabPos_bFreeOut4
1133 LA_TabPos_bFreeOut5
1134 LA_TabPos_bFreeOut6
1135 LA_TabPos_bFreeOut7
1136 LA_TabPos_bFreeOut8
16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16009 DigIn_bCountIn1_Compare
16010 DigIn_bCountIn6_Compare
16011 Ain_bCurrentErrorIn1
16012 Ain_bCurrentErrorIn2
16013 CAN1_bCtrl1_B0
16014 CAN1_bCtrl1_B1
16015 CAN1_bCtrl1_B2
16016 CAN1_bCtrl1_B3
16017 CAN1_bCtrl1_B4
16018 CAN1_bCtrl1_B5
16019 CAN1_bCtrl1_B6
16020 CAN1_bCtrl1_B7
16021 CAN1_bCtrl1_B8
16022 CAN1_bCtrl1_B9
16023 CAN1_bCtrl1_B10
16024 CAN1_bCtrl1_B11
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 715
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
16025 CAN1_bCtrl1_B12
16026 CAN1_bCtrl1_B13
16027 CAN1_bCtrl1_B14
16028 CAN1_bCtrl1_B15
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16061 MciIn_bCtrl_B0
16062 MciIn_bCtrl_B1
16063 MciIn_bCtrl_B2
16064 MciIn_bCtrl_B3
16065 MciIn_bCtrl_B4
16066 MciIn_bCtrl_B5
16067 MciIn_bCtrl_B6
16068 MciIn_bCtrl_B7
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
716 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16069 MciIn_bCtrl_B8
16070 MciIn_bCtrl_B9
16071 MciIn_bCtrl_B10
16072 MciIn_bCtrl_B11
16073 MciIn_bCtrl_B12
16074 MciIn_bCtrl_B13
16075 MciIn_bCtrl_B14
16076 MciIn_bCtrl_B15
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
16087 MciIn_bIn1_B10
16088 MciIn_bIn1_B11
16089 MciIn_bIn1_B12
16090 MciIn_bIn1_B13
16091 MciIn_bIn1_B14
16092 MciIn_bIn1_B15
16093 LS_Keypad_bSetQuickstop
16094 LS_Keypad_bSetDCBrake
16095 LS_Keypad_bSetSpeedCcw
16096 LS_Keypad_bJogSpeed1
16097 LS_Keypad_bJogSpeed2
16098 LS_Keypad_bMPotEnable
16099 LS_Keypad_bMPotUp
16100 LS_Keypad_bMPotDown
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 717
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32001 MCTRL_bHeatSinkWarning
32002 MCTRL_bLimPosCtrlOut
32003 MCTRL_bLimSpeedCtrlOut
32004 MCTRL_bLimSpeedSetVal
32005 MCTRL_bLimTorqueSetVal
32006 MCTRL_bLimCurrentSetVal
32007 MCTRL_bUVDetected
32008 MCTRL_bOVDetected
32009 MCTRL_bMotorPhaseFault
32010 MCTRL_bEncoderComFault
32011 MCTRL_bIxtOverload
32012 MCTRL_bI2xtOverload
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
718 L Firmware 02.00 - DMS EN 3.0 - 05/2009
32013 MCTRL_bIdentificationActive
32014 MCTRL_bFlyingSyncActive
32015 MCTRL_bMMax
32016 MCTRL_bNMaxFault
32017 MCTRL_bFChopReduced
32018 MCTRL_bMotorPTCFault
32019 MCTRL_bMotorTempFault
32020 MCTRL_bAutoGSBIsActive
32021 MCTRL_bBrakeChopperFault
32022 MCTRL_bQspIsActive
32023 MCTRL_bHlgLoad
32024 MCTRL_bHlgStop
32025 MCTRL_bImpSperreAktiv
32026 MCTRL_bClampActive
32027 MCTRL_bMainsErr
32028 MCTRL_bNmaxForFchop
32029 MCTRL_bShortCircuit
32030 MCTRL_bEarthFault
32100 DCTRL_bInit
32101 DCTRL_bReady
32102 DCTRL_bReadyToSwitchOn
32103 DCTRL_bOperationEnable
32104 DCTRL_bWarning
32105 DCTRL_bTrouble
32106 DCTRL_bFail
32107 DCTRL_bSystemFail
32108 DCTRL_bSafeTorqueOff
32109 DCTRL_bIMPIsActive
32110 DCTRL_bCINHIsActive
32111 DCTRL_bSafetyIsActive
32112 DCTRL_bCwCcw
32113 DCTRL_bNactCompare
32200 MCK_bPosCtrlOn
32201 MCK_bSpeedCtrlIOn
32202 MCK_bTorquemodeOn
32203 MCK_bDcBrakeOn
32204 MCK_bBrkReleaseOut
32205 MCK_bBrkReleased
32206 MCK_bDeltaPosOn
32207 MCK_bPosDerivativeOn
32208 MCK_bMotorRefOffsetOn
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 719
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
32212 MCK_bHomDone
32213 MCK_bHomAvailable
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36009 L_DFlipFlop_Out_1
36010 L_RLQ_1_Qsp
36011 L_RLQ_1_Ccw
36012 L_DigDelay_Out_1
36013 L_Compare_Out_1
36014 L_Compare_Out_2
36015 L_Compare_Out_3
36016 L_Nset_RfgEq0_1
36017 L_DigitalLogic_1_bOut
36018 L_Counter_1_bEqual
36019 L_SigMonitor_b_bOut1
36020 L_SigMonitor_b_bOut2
36021 L_SigMonitor_b_bOut3
36022 L_SigMonitor_b_bOut4
36023 L_PCTRL_1_bActEqSet
36024 L_NLim_1_bLimitActive
36025 L_DFlipFlop_1_NegOut
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36028 L_Compare_4_bOut
36029 L_Compare_5_bOut
36030 L_Compare_6_bOut
36031 L_Compare_7_bOut
36032 L_Compare_8_bOut
36033 L_Compare_9_bOut
36034 L_Compare_10_bOut
36035 L_DFlipFlop_2_bOut
36036 L_DFlipFlop_2_bNegOut
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
720 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36037 L_DigDelay_2_Out
36038 L_DigDelay_3_Out
36041 L_DigitalLogic_2_bOut
36042 L_DigitalLogic5_1_bOut
36043 L_DigitalLogic5_2_bOut
36044 L_NLim_2_bLimitActive
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
36055 L_PhaseIntK_1_bState
36056 L_PhaseIntK_2_bState
36057 L_Counter_2_bEqual
36058 L_Counter_3_bEqual
36059 L_RSFlipflop_1_bOut
36060 L_RSFlipflop_1_bNegOut
36061 L_RSFlipflop_2_bOut
36062 L_RSFlipflop_2_bNegOut
36063 L_Transient_1_bOut
36064 L_Transient_2_bOut
36065 L_Transient_3_bOut
36066 L_Transient_4_bOut
36067 L_ConvWordToBits_1_bBit0
36068 L_ConvWordToBits_1_bBit1
36069 L_ConvWordToBits_1_bBit2
36070 L_ConvWordToBits_1_bBit3
36071 L_ConvWordToBits_1_bBit4
36072 L_ConvWordToBits_1_bBit5
36073 L_ConvWordToBits_1_bBit6
36074 L_ConvWordToBits_1_bBit7
36075 L_ConvWordToBits_1_bBit8
36076 L_ConvWordToBits_1_bBit9
36077 L_ConvWordToBits_1_bBit10
36078 L_ConvWordToBits_1_bBit11
36079 L_ConvWordToBits_1_bBit12
36080 L_ConvWordToBits_1_bBit13
36081 L_ConvWordToBits_1_bBit14
36082 L_ConvWordToBits_1_bBit15
36083 L_ConvWordToBits_2_bBit0
36084 L_ConvWordToBits_2_bBit1
36085 L_ConvWordToBits_2_bBit2
36086 L_ConvWordToBits_2_bBit3
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 721
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
36087 L_ConvWordToBits_2_bBit4
36088 L_ConvWordToBits_2_bBit5
36089 L_ConvWordToBits_2_bBit6
36090 L_ConvWordToBits_2_bBit7
36091 L_ConvWordToBits_2_bBit8
36092 L_ConvWordToBits_2_bBit9
36093 L_ConvWordToBits_2_bBit10
36094 L_ConvWordToBits_2_bBit11
36095 L_ConvWordToBits_2_bBit12
36096 L_ConvWordToBits_2_bBit13
36097 L_ConvWordToBits_2_bBit14
36098 L_ConvWordToBits_2_bBit15
36099 L_ConvWordToBits_3_bBit0
36100 L_ConvWordToBits_3_bBit1
36101 L_ConvWordToBits_3_bBit2
36102 L_ConvWordToBits_3_bBit3
36103 L_ConvWordToBits_3_bBit4
36104 L_ConvWordToBits_3_bBit5
36105 L_ConvWordToBits_3_bBit6
36106 L_ConvWordToBits_3_bBit7
36107 L_ConvWordToBits_3_bBit8
36108 L_ConvWordToBits_3_bBit9
36109 L_ConvWordToBits_3_bBit10
36110 L_ConvWordToBits_3_bBit11
36111 L_ConvWordToBits_3_bBit12
36112 L_ConvWordToBits_3_bBit13
36113 L_ConvWordToBits_3_bBit14
36114 L_ConvWordToBits_3_bBit15
36115 L_MckCtrlInterface_1_bFail
36116 L_MckStateInterface_1_bAccelerating
36117 L_MckStateInterface_1_bDecelerating
36118 L_MckStateInterface_1_bConstantSpeedDuty
36119 L_MckStateInterface_1_bSShaping
36120 L_MckStateInterface_1_bBusy
36121 L_MckStateInterface_1_bDone
36122 L_MckStateInterface_1_bHomingPosAvailable
36123 L_MckStateInterface_1_bHomingDone
36124 L_MckStateInterface_1_bDwellTime
36125 L_MckStateInterface_1_bInTarget
36126 L_MckStateInterface_1_bPosDone
36127 L_PosiShaftCtrlInterface_1_bQsp
36128 L_PosiShaftCtrlInterface_1_bRsp
36129 L_PosiShaftCtrlInterface_1_bTripSet
36130 L_PosiShaftCtrlInterface_1_bTripReset
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
722 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36131 L_JogCtrlExtension_bRfgOut
36132 L_JogCtrlExtension_bJog1Out
36133 L_JogCtrlExtension_bJog2Out
42000 LA_NCtrl_bCInh
42001 LA_NCtrl_bFailReset
42002 LA_NCtrl_bSetQuickstop
42003 LA_NCtrl_bSetDCBrake
42004 LA_NCtrl_bRFG_Stop
42005 LA_NCtrl_bRFG_0
42007 LA_NCtrl_bSetSpeedCcw
42008 LA_NCtrl_bJogSpeed1
42009 LA_NCtrl_bJogSpeed2
42010 LA_NCtrl_bJogSpeed4
42011 LA_NCtrl_bJogSpeed8
42012 LA_NCtrl_bJogRamp1
42013 LA_NCtrl_bJogRamp2
42014 LA_NCtrl_bJogRamp4
42015 LA_NCtrl_bJogRamp8
42017 LA_NCtrl_bMPOTInAct
42018 LA_NCtrl_bMPOTUp
42019 LA_NCtrl_bMPOTDown
42020 LA_NCtrl_bMBRKRelease
42021 LA_NCtrl_bMANJogPos
42022 LA_NCtrl_bMANJogNeg
42023 LA_NCtrl_bGPAnalogSwitchSet
42024 LA_NCtrl_bGPDigitalDelayIn
42025 LA_NCtrl_bGPLogicIn1
42026 LA_NCtrl_bGPLogicIn2
42027 LA_NCtrl_bGPLogicIn3
42028 LA_NCtrl_bGPDFlipFlopInD
42029 LA_NCtrl_bGPDFlipFlopInClk
42030 LA_NCtrl_bGPDFlipFlopInClr
42031 LA_NCtrl_bMPotEnable
42032 LA_NCtrl_bPIDEnableInfluenceRamp
42033 LA_NCtrl_bPIDIOff
42034 LA_NCtrl_bRLQCw
42035 LA_NCtrl_bRLQCcw
42100 LA_TabPos_In_bCInh
42101 LA_TabPos_In_bFailReset
42102 LA_TabPos_In_bSetQuickstop
42103 LA_TabPos_In_bSetSpeedCcw
42104 LA_TabPos_In_bJogSpeed1
42105 LA_TabPos_In_bJogSpeed2
42106 LA_TabPos_In_bMPotEnable
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 723
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
42107 LA_TabPos_In_bMPotUp
42108 LA_TabPos_In_bMPotDown
42109 LA_TabPos_In_bMBrakeRelease
42110 LA_TabPos_In_bPosCtrlOn
42111 LA_TabPos_In_bLimitSwitchPos
42112 LA_TabPos_In_bLimitSwitchNeg
42113 LA_TabPos_In_bReleaseLimitSwitch
42114 LA_TabPos_In_bManJogPos
42115 LA_TabPos_In_bManJogNeg
42116 LA_TabPos_In_bManEnable2ndSpeed
42117 LA_TabPos_In_bEnableSpeedOverride
42118 LA_TabPos_In_bEnableAccOverride
42119 LA_TabPos_In_bHomeStartStop
42120 LA_TabPos_In_bHomeSetPosition
42121 LA_TabPos_In_bHomeResetPosition
42122 LA_TabPos_In_bHomeMark
42123 LA_TabPos_In_bPosSetProfilePosition
42124 LA_TabPos_In_bPosSetActualPosition
42125 LA_TabPos_In_bPosExecute
42126 LA_TabPos_In_bPosFinishTarget
42127 LA_TabPos_In_bPosDisableFollowProfile
42128 LA_TabPos_In_bPosStop
42129 LA_TabPos_In_bGPAnalogSwitchSet
42130 LA_TabPos_In_bGPDigitalDelayIn
42131 LA_TabPos_In_bGPLogicIn1
42132 LA_TabPos_In_bGPLogicIn2
42133 LA_TabPos_In_bGPLogicIn3
42134 LA_TabPos_In_bGPDFlipFlop_InD
42135 LA_TabPos_In_bGPDFlipFlop_InClk
42136 LA_TabPos_In_bGPDFlipFlop_InClr
42137 LA_TabPos_In_bGPCounter1ClkUp
42138 LA_TabPos_In_bGPCounter1ClkDown
42139 LA_TabPos_In_bGPCounter1Load
42140 LA_TabPos_In_bMckOperationMode_1
42141 LA_TabPos_In_bMckOperationMode_2
42142 LA_TabPos_In_bMckOperationMode_4
42143 LA_TabPos_In_bMckOperationMode_8
42144 LA_TabPos_In_bPosProfileNo_1
42145 LA_TabPos_In_bPosProfileNo_2
42146 LA_TabPos_In_bPosProfileNo_4
42147 LA_TabPos_In_bPosProfileNo_8
42148 LA_TabPos_In_bFreeIn1
42149 LA_TabPos_In_bFreeIn2
42150 LA_TabPos_In_bFreeIn3
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
724 L Firmware 02.00 - DMS EN 3.0 - 05/2009
42151 LA_TabPos_In_bFreeIn4
42152 LA_TabPos_In_bFreeIn5
42153 LA_TabPos_In_bFreeIn6
42154 LA_TabPos_In_bFreeIn7
42155 LA_TabPos_In_bFreeIn8
Subcodes Lenze setting Information
C00621/1 1001: LA_nCtrl_bDriveFail LS_DigitalOutput:bRelay
C00621/2 1000: LA_nCtrl_bDriveReady LS_DigitalOutput:bOut1
C00621/3 0: Not connected LS_DigitalInput: bCountIn1_Reset
C00621/4 0: Not connected LS_DigitalInput: bCountIn1_LoadStartValue
C00621/5 0: Not connected LP_CanOut1: bState_B0
C00621/6 0: Not connected LP_CanOut1: bState_B1
C00621/7 0: Not connected LP_CanOut1: bState_B2
C00621/8 0: Not connected LP_CanOut1: bState_B3
C00621/9 0: Not connected LP_CanOut1:bState_B4
C00621/10 0: Not connected LP_CanOut1: bState_B5
C00621/11 0: Not connected LP_CanOut1: bState_B6
C00621/12 0: Not connected LP_CanOut1: bState_B7
C00621/13 0: Not connected LP_CanOut1: bState_B8
C00621/14 0: Not connected LP_CanOut1: bState_B9
C00621/15 0: Not connected LP_CanOut1: bState_B10
C00621/16 0: Not connected LP_CanOut1: bState_B11
C00621/17 0: Not connected LP_CanOut1: bState_B12
C00621/18 0: Not connected LP_CanOut1: bState_B13
C00621/19 0: Not connected LP_CanOut1: bState_B14
C00621/20 0: Not connected LP_CanOut1: bState_B15
C00621/21 0: Not connected LS_DisFree_b:bDis1
C00621/22 0: Not connected LS_DisFree_b:bDis2
C00621/23 0: Not connected LS_DisFree_b:bDis3
C00621/24 0: Not connected LS_DisFree_b:bDis4
C00621/25 0: Not connected LS_DisFree_b:bDis5
C00621/26 0: Not connected LS_DisFree_b:bDis6
C00621/27 0: Not connected LS_DisFree_b:bDis7
C00621/28 0: Not connected LS_DisFree_b:bDis8
C00621/29 0: Not connected LP_CanOut2: bOut1_B0
C00621/30 0: Not connected LP_CanOut2: bOut1_B1
C00621/31 0: Not connected LP_CanOut2: bOut1_B2
C00621/32 0: Not connected LP_CanOut2: bOut1_B3
C00621/33 0: Not connected LP_CanOut2: bOut1_B4
C00621/34 0: Not connected LP_CanOut2: bOut1_B5
C00621/35 0: Not connected LP_CanOut2: bOut1_B6
C00621/36 0: Not connected LP_CanOut2: bOut1_B7
C00621/37 0: Not connected LP_CanOut2: bOut1_B8
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 725
8400 HighLine C | Software ManualParameter reference
Parameter list | C00621
C00621/38 0: Not connected LP_CanOut2: bOut1_B9
C00621/39 0: Not connected LP_CanOut2: bOut1_B10
C00621/40 0: Not connected LP_CanOut2: bOut1_B11
C00621/41 0: Not connected LP_CanOut2: bOut1_B12
C00621/42 0: Not connected LP_CanOut2: bOut1_B13
C00621/43 0: Not connected LP_CanOut2: bOut1_B14
C00621/44 0: Not connected LP_CanOut2: bOut1_B15
C00621/45 0: Not connected LP_CanOut3: bOut1_B0
C00621/46 0: Not connected LP_CanOut3: bOut1_B1
C00621/47 0: Not connected LP_CanOut3: bOut1_B2
C00621/48 0: Not connected LP_CanOut3: bOut1_B3
C00621/49 0: Not connected LP_CanOut3: bOut1_B4
C00621/50 0: Not connected LP_CanOut3: bOut1_B5
C00621/51 0: Not connected LP_CanOut3: bOut1_B6
C00621/52 0: Not connected LP_CanOut3: bOut1_B7
C00621/53 0: Not connected LP_CanOut3: bOut1_B8
C00621/54 0: Not connected LP_CanOut3: bOut1_B9
C00621/55 0: Not connected LP_CanOut3: bOut1_B10
C00621/56 0: Not connected LP_CanOut3: bOut1_B11
C00621/57 0: Not connected LP_CanOut3: bOut1_B12
C00621/58 0: Not connected LP_CanOut3: bOut1_B13
C00621/59 0: Not connected LP_CanOut3: bOut1_B14
C00621/60 0: Not connected LP_CanOut3: bOut1_B15
C00621/61 0: Not connected LP_MciOut: bState_B0
C00621/62 0: Not connected LP_MciOut: bState_B1
C00621/63 0: Not connected LP_MciOut: bState_B2
C00621/64 0: Not connected LP_MciOut: bState_B3
C00621/65 0: Not connected LP_MciOut: bState_B4
C00621/66 0: Not connected LP_MciOut: bState_B5
C00621/67 0: Not connected LP_MciOut: bState_B6
C00621/68 0: Not connected LP_MciOut: bState_B7
C00621/69 0: Not connected LP_MciOut: bState_B8
C00621/70 0: Not connected LP_MciOut: bState_B9
C00621/71 0: Not connected LP_MciOut: bState_B10
C00621/72 0: Not connected LP_MciOut: bState_B11
C00621/73 0: Not connected LP_MciOut: bState_B12
C00621/74 0: Not connected LP_MciOut: bState_B13
C00621/75 0: Not connected LP_MciOut: bState_B14
C00621/76 0: Not connected LP_MciOut: bState_B15
C00621/77 0: Not connected LP_MciOut: bOut2_B0
C00621/78 0: Not connected LP_MciOut: bOut2_B1
C00621/79 0: Not connected LP_MciOut: bOut2_B2
C00621/80 0: Not connected LP_MciOut: bOut2_B3
C00621/81 0: Not connected LP_MciOut: bOut2_B4
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
8400 HighLine C | Software ManualParameter referenceParameter list | C00621
726 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00621/82 0: Not connected LP_MciOut: bOut2_B5
C00621/83 0: Not connected LP_MciOut: bOut2_B6
C00621/84 0: Not connected LP_MciOut: bOut2_B7
C00621/85 0: Not connected LP_MciOut: bOut2_B8
C00621/86 0: Not connected LP_MciOut: bOut2_B9
C00621/87 0: Not connected LP_MciOut: bOut2_B10
C00621/88 0: Not connected LP_MciOut: bOut2_B11
C00621/89 0: Not connected LP_MciOut: bOut2_B12
C00621/90 0: Not connected LP_MciOut: bOut2_B13
C00621/91 0: Not connected LP_MciOut: bOut2_B14
C00621/92 0: Not connected LP_MciOut: bOut2_B15
C00621/93 0: Not connected LS_SetError_1_bSetError1
C00621/94 0: Not connected LS_SetError_1_bSetError2
C00621/95 0: Not connected LS_SetError_1_bSetError3
C00621/96 0: Not connected LS_SetError_1_bSetError4
C00621/97 0: Not connected LS_DigitalInput: bCountIn6_Reset
C00621/98 0: Not connected LS_DigitalInput: bCountIn6_LoadStartValue
C00621/99 0: Not connected LS_DigitalOutput: bOut2
C00621/100 0: Not connected LS_DigitalOutput: bOut3
C00621/101 0: Not connected LS_DigitalOutput: bOut HighCurrent
C00621/102 0: Not connected Ls_DisFree_b: bDis9
C00621/103 0: Not connected Ls_DisFree_b: bDis10
C00621/104 0: Not connected Ls_DisFree_b: bDis11
C00621/105 0: Not connected Ls_DisFree_b: bDis12
C00621/106 0: Not connected Ls_DisFree_b: bDis13
C00621/107 0: Not connected Ls_DisFree_b: bDis14
C00621/108 0: Not connected Ls_DisFree_b: bDis15
C00621/109 0: Not connected Ls_DisFree_b: bDis16
C00621/110 0: Not connected Reserved
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00621 | Bool system connectionData type: UNSIGNED_16
Index: 23954d = 5D92h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 727
8400 HighLine C | Software ManualParameter reference
Parameter list | C00622
C00622Parameter | Name:
C00622 | Sys. conn. angleData type: UNSIGNED_16
Index: 23953d = 5D91h
Connection parameters: 32-bit inputs • Selection of the 32-bit output signals for connection with the 32-bit input signals. • The selection list contains all 32-bit output signals which can be assigned to the 32-bit inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1100 LA_TabPos_dnTargetPos_p
1101 LA_TabPos_dnSetPos_p
1102 LA_TabPos_dnFreeOut1_p
1103 LA_TabPos_dnFreeOut2_p
1104 LA_TabPos_dnPosAct_p
1105 LA_TabPos_dnDeltaPosAct_p
16000 CAN1_dnIn34_p
16001 CAN2_dnIn34_p
16002 CAN3_dnIn34_p
16003 LP_MciIn_dnIn34_p
20000 dnPar1_p
20001 dnPar2_p
20002 dnPar3_p
20003 dnPar4_p
20004 dnPar5_p
20005 dnPar6_p
20006 dnPar7_p
20007 dnPar8_p
32000 MCTRL_dnMotorPosAct_p
32001 MCTRL_dnMotorDeltaPosAct_p
32200 MCK_dnPosTarget_p
32201 MCK_dnPosSetValue_p
32202 MCK_dnDeltaPos_p
32203 MCK_dnMotorRefOffset_p
36040 L_ArithmetikPhi_1_Out_p
36046 L_GainOffsetParPhi_1_Out_p
36047 L_GainOffsetParPhi_2_Out_p
36050 L_LimitPhi_1_Out_p
36051 L_LimitPhi_2_Out_p
36052 L_LimitPhi_3_Out_p
36060 L_OffsetGainParPhi_1_Out_p
36061 L_OffsetGainParPhi_2_Out_p
36066 L_PhaseIntK_1_dnOut_p
36067 L_PhaseIntK_2_dnOut_p
36070 L_ArithmetikPhi_2_Out_p
36071 L_ArithmetikPhi_3_Out_p
36072 L_Sqrt_1_Out_p
36073 L_Mux_1_Out_p
36074 L_ConvWordsToDInt_1_dnOut_p
8400 HighLine C | Software ManualParameter referenceParameter list | C00630
728 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00630
36075 L_ConvWordsToDInt_2_dnOut_p
36076 L_ConvWordsToDInt_3_dnOut_p
36077 L_ConvUnitsToIncr_1_dnOut_p
36078 L_ConvUnitsToIncr_2_dnOut_p
36079 L_ConvUnitsToIncr_3_dnOut_p
42100 LA_TabPos_In_dnPosProfilePosition
42101 LA_TabPos_In_dnFreeIn1_p
42102 LA_TabPos_In_dnFreeIn2_p
Subcodes Lenze setting Information
C00622/1 0: Not connected LS_DisFree_p:dnDis1_p
C00622/2 0: Not connected LS_DisFree_p:dnDis2_p
C00622/3 0: Not connected LS_DisFree_p: dnDis3_p
C00622/4 0: Not connected LS_DisFree_p: dnDis4_p
C00622/5 0: Not connected LS_DisFree_p: dnDis5_p
C00622/6 0: Not connected LS_DisFree_p: dnDis6_p
C00622/7 0: Not connected LS_DisFree_p: dnDis7_p
C00622/8 0: Not connected LS_DisFree_p: dnDis8_p
C00622/9 0: Not connected LP_CanOut1: dnOut34_p
C00622/10 0: Not connected LP_CanOut2: dnOut34_p
C00622/11 0: Not connected LP_CanOut3: dnOut34_p
C00622/12 0: Not connected LP_MciOut: dnOut34_p
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00622 | Sys. conn. angleData type: UNSIGNED_16
Index: 23953d = 5D91h
Parameter | Name:
C00630 | L_Limit 1-2 Min/MaxData type: INTEGER_16Index: 23945d = 5D89h
FB L_Limit_1-2: Setting of the limits
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00630/1 -199.99 % L_Limit_1: Min.Limit
C00630/2 199.99 % L_Limit_1: Max.Limit
C00630/3 -199.99 % L_Limit_2: Min.Limit
C00630/4 199.99 % L_Limit_2: Max.Limit
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 729
8400 HighLine C | Software ManualParameter reference
Parameter list | C00631
C00631
C00632
C00633
Parameter | Name:
C00631 | L_LimitPhi 1-3 Min/MaxData type: INTEGER_32Index: 23944d = 5D88h
FB L_LimitPhi_1-3: Setting of the limits
Setting range (min. value | unit | max. value)
-2147483647 Incr. 2147483647
Subcodes Lenze setting Information
C00631/1 -2147483647 incr. L_LimitPhi_1: Min.Limit
C00631/2 2147483647 incr. L_LimitPhi_1: Max.Limit
C00631/3 -2147483647 incr. L_LimitPhi_2: Min.Limit
C00631/4 2147483647 incr. L_LimitPhi_2: Max.Limit
C00631/5 -2147483647 incr. L_LimitPhi_3: Min.Limit
C00631/6 2147483647 incr. L_LimitPhi_3: Max.Limit
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00632 | L_NSet_1: Max.SkipFrq.Data type: INTEGER_16Index: 23943d = 5D87h
FB L_NSet_1: Maximum limit values for the speed blocking zones • Selection of the maximum limit values for the blocking zones in which the speed must not be constant.
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00632/1 0.00 % L_NSet_1: blocking speed 1 max
C00632/2 0.00 % L_NSet_1: blocking speed 2 max
C00632/3 0.00 % L_NSet_1: blocking speed 3 max
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00633 | L_NSet_1 Min.SkipFrq.Data type: INTEGER_16Index: 23942d = 5D86h
FB L_NSet_1: Minimum limit values for the speed blocking zones • Selection of the minimum limit values for the blocking zones in which the speed must not be constant.
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00633/1 0.00 % L_NSet_1: blocking speed 1 min
C00633/2 0.00 % L_NSet_1: blocking speed 2 min
C00633/3 0.00 % L_NSet_1: blocking speed 3 min
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00634
730 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00634
C00635
C00636
C00637
Parameter | Name:
C00634 | L_NSet_1: wStateData type: UNSIGNED_16
Index: 23941d = 5D85h
FB L_NSet_1: Bit-coded status display
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 No blocking zone active "1" ≡ No blocking zone set for constant speeds
Bit 1 Blocking zone 1 active "1" ≡ Suppression of constant speed characteristics within the limits of blocking zone 1
Bit 2 Blocking zone 2 active "1" ≡ Suppression of constant speed characteristics within the limits of blocking zone 2
Bit 3 Blocking zone 3 active "1" ≡ Suppression of constant speed characteristics within the limits of blocking zone 3
Bit 4 Jog in blocking zone "1" ≡ A ramp is used to keep the speed setpoint within a speed blocking zone
Bit 5 MaxLimit active "1" ≡ Speed setpoint is at the maximum speed limit
Bit 6 MinLimit active "1" ≡ Speed setpoint is at the minimum speed limit
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00635 | L_NSet_1: nMaxLimitData type: INTEGER_16Index: 23940d = 5D84h
FB L_NSet_1: Maximum speed setpoint for speed setpoint limitation
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 199.99 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00636 | L_NSet_1: nMinLimitData type: INTEGER_16Index: 23939d = 5D83h
FB L_NSet_1: Minimum speed setpoint for speed setpoint limitation
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 -199.99 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00637 | L_NSet_1: Blocking zone outputData type: INTEGER_16Index: 23938d = 5D82h
FB L_NSet_1: Display of the speed setpoint after blocking zone function processing
Display range (min. value | unit | max. value)
-199.99 % 199.99
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 731
8400 HighLine C | Software ManualParameter reference
Parameter list | C00638
C00638
C00639
C00640
C00650
C00670
Parameter | Name:
C00638 | L_NSet_1: Ramp rounding outputData type: INTEGER_16Index: 23937d = 5D81h
FB L_NSet_1: Display of the speed setpoint after PT1 filter function processing
Display range (min. value | unit | max. value)
-199.99 % 199.99
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00639 | L_NSet_1: Addit. value outputData type: INTEGER_16Index: 23936d = 5D80h
FB L_NSet_1: Display of the additional speed setpoint after ramp generator processing
Display range (min. value | unit | max. value)
-199.99 % 199.99
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00640 | L_NSet_1: nNOut_aData type: INTEGER_16Index: 23935d = 5D7Fh
FB L_NSet_1: Display of the generated main speed setpoint at the output nNOut_a
Display range (min. value | unit | max. value)
-199.99 % 199.99
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00650 | L_Arithmetik 3-5: Fct.Data type: UNSIGNED_8
Index: 23925d = 5D75h
FB L_Arithmetik_3-5: Selection of the internal arithmetic
Selection list
0 nOut_a = nIn1_a
1 nOut_a = nIn1_a + nIn2_a
2 nOut_a = nIn1_a - nIn2_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% - nIn2_a)
Subcodes Lenze setting Information
C00650/1 0: nOut_a = nIn1_a L_Arithmetik_3: Function
C00650/2 0: nOut_a = nIn1_a L_Arithmetik_4: Function
C00650/3 0: nOut_a = nIn1_a L_Arithmetik_5: Function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00670 | L_OffsetGainP_1: GainData type: INTEGER_32Index: 23905d = 5D61h
FB L_OffsetGainP_1: Gain as multiplier of input signal + offset
Setting range (min. value | unit | max. value) Lenze setting
-100.0000 100.0000 1.0000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
8400 HighLine C | Software ManualParameter referenceParameter list | C00671
732 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00671
C00672
C00673
C00674
C00677
Parameter | Name:
C00671 | L_OffsetGainP_2: GainData type: INTEGER_32Index: 23904d = 5D60h
FB L_OffsetGainP_2: Gain as multiplier of input signal + offset
Setting range (min. value | unit | max. value) Lenze setting
-100.0000 100.0000 1.0000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C00672 | L_OffsetGainP_3: GainData type: INTEGER_32Index: 23903d = 5D5Fh
FB L_OffsetGainP_3: Gain as multiplier of input signal + offset
Setting range (min. value | unit | max. value) Lenze setting
-100.0000 100.0000 1.0000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C00673 | L_OffsetGainPhiP 1-2: OffsetData type: INTEGER_32Index: 23902d = 5D5Eh
FB L_OffsetGainPhiP_1-2: Phase offset (acts additively to the phase input signal)
Setting range (min. value | unit | max. value)
-2147483647 Incr. 2147483647
Subcodes Lenze setting Information
C00673/1 0 incr. L_OffsetGainPhiP_1: Offset
C00673/2 0 incr. L_OffsetGainPhiP_2: Offset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00674 | L_OffsetGainPhiP 1-2: GainData type: INTEGER_32Index: 23901d = 5D5Dh
FB L_OffsetGainPhiP_1-2: Phase gain as multiplier of input signal + phase offset
Setting range (min. value | unit | max. value)
-2147483647 2147483647
Subcodes Lenze setting Information
C00674/1 0 L_OffsetGainPhiP_1: Gain
C00674/2 0 L_OffsetGainPhiP_2: Gain
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00677 | L_GainOffsetP 1-3: ParameterData type: INTEGER_16Index: 23898d = 5D5Ah
FB L_GainOffsetP_1-3: Gain and offset
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00677/1 100.00 % L_GainOffsetP_1: Gain
C00677/2 0.00 % L_GainOffsetP_1: Offset
C00677/3 100.00 % L_GainOffsetP_2: Gain
C00677/4 0.00 % L_GainOffsetP_2: Offset
C00677/5 100.00 % L_GainOffsetP_3: Gain
C00677/6 0.00 % L_GainOffsetP_3: Offset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 733
8400 HighLine C | Software ManualParameter reference
Parameter list | C00678
C00678
C00679
C00680
C00681
Parameter | Name:
C00678 | L_GainOffsetPhiP 1-2: ParameterData type: INTEGER_32Index: 23897d = 5D59h
FB L_GainOffsetPhiP_1-2: Gain and offset
Setting range (min. value | unit | max. value)
-2147483647 2147483647
Subcodes Lenze setting Information
C00678/1 65536 L_GainOffsetPhiP_1: Gain
C00678/2 0 L_GainOffsetPhiP_1: Offset
C00678/3 65536 L_GainOffsetPhiP_2: Gain
C00678/4 0 L_GainOffsetPhiP_2: Offset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00679 | L_MulDiv_2: ParameterData type: INTEGER_16Index: 23896d = 5D58h
FB L_MulDiv_2: Numerator and denominator
Setting range (min. value | unit | max. value)
-32767 32767
Subcodes Lenze setting Information
C00679/1 0 L_MulDiv_2: numerator
C00679/2 10000 L_MulDiv_2: denominator
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00680 | L_Compare_1: FunctionData type: UNSIGNED_8
Index: 23895d = 5D57h
FB L_Compare_1: Comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.
Selection list (Lenze setting printed in bold)
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00681 | L_Compare_1: HysteresisData type: INTEGER_16Index: 23894d = 5D56h
FB L_Compare_1: Hysteresis for the comparison function selected in C00680
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 0.50 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00682
734 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00682
C00685
C00686
C00687
C00690
Parameter | Name:
C00682 | L_Compare_1: WindowData type: INTEGER_16Index: 23893d = 5D55h
FB L_Compare_1: Window for the comparison function selected in C00680
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 2.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00685 | L_Compare_2: FunctionData type: UNSIGNED_8
Index: 23890d = 5D52h
FB L_Compare_2: Comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.
Selection list (Lenze setting printed in bold)
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00686 | L_Compare_2: HysteresisData type: INTEGER_16Index: 23889d = 5D51h
FB L_Compare_2: Hysteresis for the comparison function selected in C00685
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 0.50 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00687 | L_Compare_2: WindowData type: INTEGER_16Index: 23888d = 5D50h
FB L_Compare_2: Window for the comparison function selected in C00685
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 2.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00690 | L_Compare_3: Fct.Data type: UNSIGNED_8
Index: 23885d = 5D4Dh
FB L_Compare_3: Comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.
Selection list (Lenze setting printed in bold)
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 735
8400 HighLine C | Software ManualParameter reference
Parameter list | C00691
C00691
C00692
C00693
C00694
Parameter | Name:
C00691 | L_Compare_3: HysteresisData type: INTEGER_16Index: 23884d = 5D4Ch
FB L_Compare_3: Hysteresis for the comparison function selected in C00690
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00692 | L_Compare_3: WindowData type: INTEGER_16Index: 23883d = 5D4Bh
FB L_Compare_3: Window for the comparison function selected in C00690
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00693 | L_Compare 4-5: Fct.Data type: UNSIGNED_8
Index: 23882d = 5D4Ah
FB L_Compare_4-5: Comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.
Selection list
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
Subcodes Lenze setting Information
C00693/1 1: In1 = In2 L_Compare_4: function
C00693/2 1: In1 = In2 L_Compare_5: function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00694 | L_Compare 4-5: HysteresisData type: INTEGER_16Index: 23881d = 5D49h
FB L_Compare_4-5: Hysteresis for the comparison function selected in C00693
Setting range (min. value | unit | max. value)
0.00 % 100.00
Subcodes Lenze setting Information
C00694/1 0.00 % L_Compare_4: hysteresis
C00694/2 0.00 % L_Compare_5: hysteresis
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00695
736 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00695
C00696
C00697
C00698
C00699
Parameter | Name:
C00695 | L_Compare 4-5: WindowData type: INTEGER_16Index: 23880d = 5D48h
FB L_Compare_4-5: Window for the comparison function selected in C00693
Setting range (min. value | unit | max. value)
0.00 % 100.00
Subcodes Lenze setting Information
C00695/1 0.00 % L_Compare_4: window
C00695/2 0.00 % L_Compare_5: window
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00696 | L_OffsetGainP_1: offsetData type: INTEGER_16Index: 23879d = 5D47h
FB L_OffsetGainP_1: Offset (acts additively to the input signal)
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00697 | L_OffsetGainP_2: offsetData type: INTEGER_16Index: 23878d = 5D46h
FB L_OffsetGainP_2: Offset (acts additively to the input signal)
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00698 | L_OffsetGainP_3: offsetData type: INTEGER_16Index: 23877d = 5D45h
FB L_OffsetGainP_3: Offset (acts additively to the input signal)
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00699 | L_MulDiv_1: parameterData type: INTEGER_16Index: 23876d = 5D44h
FB L_MulDiv_1: Numerator and denominator
Setting range (min. value | unit | max. value)
-32767 32767
Subcodes Lenze setting Information
C00699/1 0 L_MulDiv_1: numerator
C00699/2 10000 L_MulDiv_1: denominator
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 737
8400 HighLine C | Software ManualParameter reference
Parameter list | C00700
C00700Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
Connection parameters for "Actuating drive - speed" application: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1000 LA_nCtrl_wDriveControlStatus
1001 LA_nCtrl_wFailNumber
1002 LA_nCtrl_nMotorCurrent_a
1003 LA_nCtrl_nMotorSpeedAct_a
1006 LA_nCtrl_nGPAnalogSwitchOut_a
1007 LA_nCtrl_nGPArithmetikOut_a
1008 LA_nCtrl_nGPMulDivOut_a
1009 LA_nCtrl_nGPSignalOut1_a
1010 LA_nCtrl_nGPSignalOut2_a
1011 LA_nCtrl_nGPSignalOut3_a
1012 LA_nCtrl_nGPSignalOut4_a
1013 LA_nCtrl_nMotorTorqueAct_a
1014 LA_nCtrl_nDCVoltage_a
1015 LA_nCtrl_nMotorVoltage_a
1016 LA_nCtrl_nMotorSpeedSet_a
1017 LA_nCtrl_wFailTypeDomain
1100 LA_TabPos_wDriveControlStatus
1101 LA_TabPos_wStateDetermFailNoLow
1102 LA_TabPos_wStateDetermFailNoHigh
1103 LA_TabPos_nMotorCurrent_a
1104 LA_TabPos_nMotorSpeedSet_a
1105 LA_TabPos_nMotorSpeedAct_a
1106 LA_TabPos_nMotorTorqueAct_a
1107 LA_TabPos_nDCVoltage_a
1108 LA_TabPos_nMotorVoltage_a
1109 LA_TabPos_wMckState1
1110 LA_TabPos_wMckState2
1111 LA_TabPos_wMckActOperationMode
1112 LA_TabPos_wActProfileNo
1113 LA_TabPos_wActPosMode
1114 LA_TabPos_nGPAnalogSwitchOut_a
1115 LA_TabPos_nGPArithmetikOut_a
1116 LA_TabPos_nGPMulDivOut_a
1117 LA_TabPos_nGPSignalOut1_a
1118 LA_TabPos_nGPSignalOut2_a
1119 LA_TabPos_nGPSignalOut3_a
1120 LA_TabPos_nGPSignalOut4_a
1121 LA_TabPos_wGPCounter1Out
8400 HighLine C | Software ManualParameter referenceParameter list | C00700
738 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1122 LA_TabPos_wFreeOut1
1123 LA_TabPos_wFreeOut2
1124 LA_TabPos_wFreeOut3
1125 LA_TabPos_wFreeOut4
1126 LA_TabPos_nPosCtrlOutLimit_a
1127 LA_TabPos_nPosCtrlPAdapt_a
16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16014 DIGIN_wCountIn1_LW
16015 DIGIN_wCountIn1_HW
16016 DIGIN_nFreqIn12_a
16017 DIGIN_nFreqIn12_v
16018 DIGIN_wCountIn6_LW
16019 DIGIN_wCountIn6_HW
16020 DIGIN_nFreqIn67_a
16021 DIGIN_nFreqIn67_v
16100 LS_DataAccess_Out1
16101 LS_DataAccess_Out2
16102 LS_DataAccess_Out3
16103 LS_DataAccess_Out4
16104 LP_MciIn_wCtrl
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
16113 LP_MciIn_wIn10
16114 LP_MciIn_wIn11
16115 LP_MciIn_wIn12
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 739
8400 HighLine C | Software ManualParameter reference
Parameter list | C00700
16116 LP_MciIn_wIn13
16117 LP_MciIn_wIn14
16118 LP_MciIn_wIn15
16119 LP_MciIn_wIn16
16120 LS_Keypad_nTorqueMotLim_a
16121 LS_Keypad_nTorqueGenLim_a
16122 LS_Keypad_nMainSetValue_a
20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
32000 MCTRL_nMotorSpeedAct_a
32001 MCTRL_nOutputSpeedCtrl_a
32002 MCTRL_nInputJerkCtrl_a
32003 MCTRL_nInputTorqueCtrl_a
32004 MCTRL_nMotorTorqueAct_a
32005 MCTRL_nActualFluxx_a
32006 MCTRL_nDCVoltage_a
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
8400 HighLine C | Software ManualParameter referenceParameter list | C00700
740 L Firmware 02.00 - DMS EN 3.0 - 05/2009
32007 MCTRL_nStatorCurrentIS_a
32008 MCTRL_nEffCurrentIq_a
32009 MCTRL_nReaktCurrentId_a
32010 MCTRL_wMaxMotorSpeed
32011 MCTRL_wMaxMotorTorque
32012 MCTRL_nMotorVoltage_a
32013 MCTRL_nMotorFreqAct_a
32014 MCTRL_nEffSpeedSetValue_a
32015 MCTRL_nIxTRate_a
32016 MCTRL_nI2xTRate_a
32017 MCTRL_nOutputPosCtrl_a
32018 MCTRL_nHlgSetValue_a
32019 MCTRL_nMotorSpeedAct_v
32100 DCTRL_wDeviceStateWord
32101 DCTRL_wDeviceAuxStateWord
32102 DCTRL_wDetermFailNoLow
32103 DCTRL_wDetermFailNoHigh
32104 DCTRL_wFrei_2
32200 MCK_nSpeedSet_v
32201 MCK_nSpeedCtrlI_a
32202 MCK_nSpeedSetValue_a
32203 MCK_nTorqueSetValue_a
32204 MCK_wActProfileNo
32205 MCK_wFollowProfileNo
32206 MCK_wMotionState1
32207 MCK_wMotionState2
32208 MCK_wAuxState
32209 MCK_nPWMAngleOffset_a
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
36000 L_Absolut _Out_1
36001 L_AddSub_Out_1
36002 L_OffsetGain_Out_1
36003 L_OffsetGain_Out_2
36004 L_OffsetGainPar_1
36005 L_OffsetGainPar_2
36006 L_GainOffset_Out_1
36007 L_GainOffset_Out_2
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 741
8400 HighLine C | Software ManualParameter reference
Parameter list | C00700
36008 L_GainOffsetPar_1
36009 L_GainOffsetPar_2
36010 L_Negation_Out_1
36011 L_Aritmethik_Out_1
36012 L_Aritmethik_Out_2
36013 L_AnalogSwitch_Out_1
36014 L_AnalogSwitch_Out_2
36015 L_AnalogSwitch_Out_3
36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36019 L_MotorPoti_1_Out
36020 L_PCTRL_1_Out
36021 L_SigMonitor_a_Out1
36022 L_SigMonitor_a_Out2
36023 L_NLim_1_nOut_a
36024 L_Counter_1_wOut
36025 L_OffsetGainPar_3
36026 L_GainOffsetPar_3
36027 L_SigMonitor_a_Out3
36028 L_SigMonitor_a_Out4
36029 L_MulDiv_1_nOut_a
36030 L_NLim_1_wState
36031 L_NSet_1_wState
36032 L_NSet_1_nSetValue
36033 L_PT1_1_nOut_a
36034 L_Absolut _Out_2
36035 L_AnalogSwitch_4_Out
36036 L_AnalogSwitch_5_Out
36037 L_Aritmethik_3_Out
36038 L_Aritmethik_4_Out
36039 L_Aritmethik_5_Out
36045 L_GainOffset_Out_3
36053 L_MulDiv_2_nOut_a
36054 L_Negation_2_Out
36055 L_NLim_2_nOut_a
36056 L_NLim_2_wState
36057 L_OffsetGain_Out_3
36058 L_PT1_2_nOut_a
36059 L_PT1_3_nOut_a
36064 L_SampleHold_1_nOut_a
36065 L_SampleHold_2_nOut_a
36068 L_Counter_2_wOut
36069 L_Counter_3_wOut
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
8400 HighLine C | Software ManualParameter referenceParameter list | C00700
742 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36073 L_DT1_1_nOut_a
36074 L_ConvBitsToWord_1_wOut
36075 L_ConvBitsToWord_2_wOut
36076 L_ConvBitsToWord_3_wOut
36077 L_ConvDIntToWords_1_wOutLWord
36078 L_ConvDIntToWords_1_wOutHWord
36079 L_ConvDIntToWords_2_wOutLWord
36080 L_ConvDIntToWords_2_wOutHWord
36081 L_ConvDIntToWords_3_wOutLWord
36082 L_ConvDIntToWords_3_wOutHWord
36083 L_MckCtrlInterface_1_wOutMckPosCtrl_1
36084 L_MckCtrlInterface_1_wOutMckPosCtrl_2
36085 L_MckCtrlInterface_1_wFailState
36086 L_MckStateInterface_1_wOperationMode
36087 L_MckStateInterface_1_wActProfileNo
36088 L_MckStateInterface_1_wActPosMode
36089 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_1
36090 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_2
36091 L_PCTRL_1_nPIDOut2_a
36092 L_PCTRL_1_nPIDOut_a
36093 L_PCTRL_1_nInfluenceOut_a
42000 LA_nCtrl_In_wCANDriveControl
42001 LA_nCtrl_In_wCCMDriveControl
42002 LA_nCtrl_In_nTorqueMotLim
42003 LA_nCtrl_In_nTorqueGenLim
42004 LA_nCtrl_In_nPIDVpAdapt_a
42005 LA_nCtrl_In_nPIDActValue_a
42006 LA_nCtrl_In_nMainSetValue
42007 LA_nCtrl_In_nAuxSetValue
42008 LA_nCtrl_In_nGPAnalogSwitchIn1_a
42009 LA_nCtrl_In_nGPAnalogSwitchIn2_a
42010 LA_nCtrl_In_nGPArithmetikIn1_a
42011 LA_nCtrl_In_nGPArithmetikIn2_a
42012 LA_nCtrl_In_nGPMulDivIn_a
42013 LA_nCtrl_In_nGPCompareIn1_a
42014 LA_nCtrl_In_nGPCompareIn2_a
42015 LA_nCtrl_In_nVoltageAdd_a
42016 LA_nCtrl_In_nPIDInfluence_a
42017 LA_nCtrl_In_nPIDSetValue_a
42018 LA_nCtrl_In_nPWMAngleOffset_a
42100 LA_TabPos_In_wCanDriveControl
42101 LA_TabPos_In_wMciDriveControl
42102 LA_TabPos_In_nTorqueMotLim_a
42103 LA_TabPos_In_nTorqueGenLim_a
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 743
8400 HighLine C | Software ManualParameter reference
Parameter list | C00700
42104 LA_TabPos_In_nMainSetValue_a
42105 LA_TabPos_In_nAuxSetValue_a
42106 LA_TabPos_In_wMckCtrl1
42107 LA_TabPos_In_wMckCtrl2
42108 LA_TabPos_In_wMckOperationMode
42109 LA_TabPos_In_wPosProfileMode
42110 LA_TabPos_In_wPosProfileNo
42111 LA_TabPos_In_nGPAnalogSwitchIn1_a
42112 LA_TabPos_In_nGPAnalogSwitchIn2_a
42113 LA_TabPos_In_nGPArithmetikIn1_a
42114 LA_TabPos_In_nGPArithmetikIn2_a
42115 LA_TabPos_In_nGPMulDivIn_a
42116 LA_TabPos_In_nGPCompareIn1_a
42117 LA_TabPos_In_nGPCompareIn2_a
42118 LA_TabPos_In_wGPCounter1LdVal
42119 LA_TabPos_In_wGPCounter1CmpVal
42120 LA_TabPos_In_nSpeedOverride_a
42121 LA_TabPos_In_nAccOverride_a
42122 LA_TabPos_In_wFreeIn1
42123 LA_TabPos_In_wFreeIn2
42124 LA_TabPos_In_wFreeIn3
42125 LA_TabPos_In_wFreeIn4
Subcodes Lenze setting Information
C00700/1 20005: C_wDriveCtrl LA_NCtrl: wCANDriveControl(input for control word from CAN to device control)
C00700/2 20005: C_wDriveCtrl LA_NCtrl: wMCIDriveControl(input for control word from communication interface to device control)
C00700/3 20012: nPar3_a LA_NCtrl: nTorqueMotLim_a(input for maximum torque in motor mode)
C00700/4 20013: nPar4_a LA_NCtrl: nTorqueGenLim_a(input for maximum torque in generator mode)
C00700/5 0: Not connected LA_NCtrl: nPIDVpAdapt_a(input for adaptation of PID controller gain)
C00700/6 0: Not connected LA_NCtrl: nPIDActValue_a(input for actual PID controller value)
C00700/7 16000: AIN1_Out LA_NCtrl: nMainSetValue_a(input for main speed setpoint)
C00700/8 0: Not connected LA_NCtrl: nAuxSetValue_a(input for additional speed setpoint)
C00700/9 0: Not connected LA_NCtrl: nGPAnalogSwitchIn1_a(input for analog-value selector analog signal 1)
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
744 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00701
C00700/10 0: Not connected LA_NCtrl: nGPAnalogSwitchIn2_a(input for analog-value selector analog signal 2)
C00700/11 0: Not connected LA_NCtrl: nGPArithmetikIn1_a(input for arithmetic function analog signal 1)
C00700/12 0: Not connected LA_NCtrl: nGPArithmetikIn2_a(input for arithmetic function analog signal 2)
C00700/13 0: Not connected LA_NCtrl: nGPMulDivIn_a(input for analog signal for muliplication/division)
C00700/14 0: Not connected LA_NCtrl: nGPCompareIn1_a(input for comparison operation analog signal 1)
C00700/15 0: Not connected LA_NCtrl: nGPCompareIn2_a(input for comparison operation analog signal 2)
C00700/16 0: Not connected LA_NCtrl: nVoltageAdd_a(input for additive voltage boost)
C00700/17 0: Not connected LA_NCtrl: nPIDInfluence_a(input for influence signal of PID controller correcting variable)
C00700/18 0: Not connected LA_NCtrl: nPIDSetValue_a(input for PID controller setpoint)
C00700/19 0: Not connected LA_NCtrl: nPWMAngleOffset_a(input for pulse width modulation phase offset)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16
Index: 23875d = 5D43h
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Connection parameters for "Actuating drive - speed" application: Binary inputs • Selection of the binary output signals for connection with the binary input signals • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1000 LA_nCtrl_bDriveReady
1001 LA_nCtrl_bDriveFail
1002 LA_nCtrl_bCInhActive
1003 LA_nCtrl_bQSPIsActive
1004 LA_nCtrl_bSpeedCcw
1005 LA_nCtrl_bSpeedActCompare
1008 LA_nCtrl_bGPDigitalDelayOut
1009 LA_nCtrl_bGPLogicOut
1010 LA_nCtrl_bGPSignalOut1
1011 LA_nCtrl_bGPSignalOut2
1012 LA_nCtrl_bGPSignalOut3
1013 LA_nCtrl_bGPSignalOut4
1014 LA_nCtrl_bOverLoadActive
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 745
8400 HighLine C | Software ManualParameter reference
Parameter list | C00701
1015 LA_nCtrl_bBrakeReleaseOut
1016 LA_nCtrl_bBrakeReleased
1017 LA_nCtrl_bGPCompareOut
1018 LA_nCtrl_bUnderLoadActive
1019 LA_nCtrl_bImaxActive
1020 LA_nCtrl_bSpeedSetReached
1021 LA_nCtrl_bSpeedActEqSet
1022 LA_nCtrl_bGPDFlipFlopOut
1023 LA_nCtrl_bGPDFlipFlopNegOut
1100 LA_TabPos_bDriveFail
1101 LA_TabPos_bDriveReady
1102 LA_TabPos_bCInhActive
1103 LA_TabPos_bQSPIsActive
1104 LA_TabPos_bSpeedCcw
1105 LA_TabPos_bSpeedActCompare
1106 LA_TabPos_bImaxActive
1107 LA_TabPos_bSpeedSetReached
1108 LA_TabPos_bMBrakeReleaseOut
1109 LA_TabPos_bMBrakeReleased
1110 LA_TabPos_bHomeDone
1111 LA_TabPos_bHomePosAvailable
1112 LA_TabPos_bProfileDone
1113 LA_TabPos_bProfileBusy
1114 LA_TabPos_bAccelerating
1115 LA_TabPos_bConstantDuty
1116 LA_TabPos_bDecelerating
1117 LA_TabPos_bDwellTime
1118 LA_TabPos_bInTarget
1119 LA_TabPos_bGPDigitalDelayOut
1120 LA_TabPos_bGPLogicOut
1121 LA_TabPos_bGPCompareOut
1122 LA_TabPos_bGPSignalOut1
1123 LA_TabPos_bGPSignalOut2
1124 LA_TabPos_bGPSignalOut3
1125 LA_TabPos_bGPSignalOut4
1126 LA_TabPos_bGPDFlipFlop_Out
1127 LA_TabPos_bGPDFlipFlop_NegOut
1128 LA_TabPos_bGPCounter1Equal
1129 LA_TabPos_bFreeOut1
1130 LA_TabPos_bFreeOut2
1131 LA_TabPos_bFreeOut3
1132 LA_TabPos_bFreeOut4
1133 LA_TabPos_bFreeOut5
1134 LA_TabPos_bFreeOut6
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
746 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1135 LA_TabPos_bFreeOut7
1136 LA_TabPos_bFreeOut8
16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16009 DigIn_bCountIn1_Compare
16010 DigIn_bCountIn6_Compare
16011 Ain_bCurrentErrorIn1
16012 Ain_bCurrentErrorIn2
16013 CAN1_bCtrl1_B0
16014 CAN1_bCtrl1_B1
16015 CAN1_bCtrl1_B2
16016 CAN1_bCtrl1_B3
16017 CAN1_bCtrl1_B4
16018 CAN1_bCtrl1_B5
16019 CAN1_bCtrl1_B6
16020 CAN1_bCtrl1_B7
16021 CAN1_bCtrl1_B8
16022 CAN1_bCtrl1_B9
16023 CAN1_bCtrl1_B10
16024 CAN1_bCtrl1_B11
16025 CAN1_bCtrl1_B12
16026 CAN1_bCtrl1_B13
16027 CAN1_bCtrl1_B14
16028 CAN1_bCtrl1_B15
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 747
8400 HighLine C | Software ManualParameter reference
Parameter list | C00701
16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16061 MciIn_bCtrl_B0
16062 MciIn_bCtrl_B1
16063 MciIn_bCtrl_B2
16064 MciIn_bCtrl_B3
16065 MciIn_bCtrl_B4
16066 MciIn_bCtrl_B5
16067 MciIn_bCtrl_B6
16068 MciIn_bCtrl_B7
16069 MciIn_bCtrl_B8
16070 MciIn_bCtrl_B9
16071 MciIn_bCtrl_B10
16072 MciIn_bCtrl_B11
16073 MciIn_bCtrl_B12
16074 MciIn_bCtrl_B13
16075 MciIn_bCtrl_B14
16076 MciIn_bCtrl_B15
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
748 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16087 MciIn_bIn1_B10
16088 MciIn_bIn1_B11
16089 MciIn_bIn1_B12
16090 MciIn_bIn1_B13
16091 MciIn_bIn1_B14
16092 MciIn_bIn1_B15
16093 LS_Keypad_bSetQuickstop
16094 LS_Keypad_bSetDCBrake
16095 LS_Keypad_bSetSpeedCcw
16096 LS_Keypad_bJogSpeed1
16097 LS_Keypad_bJogSpeed2
16098 LS_Keypad_bMPotEnable
16099 LS_Keypad_bMPotUp
16100 LS_Keypad_bMPotDown
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 749
8400 HighLine C | Software ManualParameter reference
Parameter list | C00701
20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32001 MCTRL_bHeatSinkWarning
32002 MCTRL_bLimPosCtrlOut
32003 MCTRL_bLimSpeedCtrlOut
32004 MCTRL_bLimSpeedSetVal
32005 MCTRL_bLimTorqueSetVal
32006 MCTRL_bLimCurrentSetVal
32007 MCTRL_bUVDetected
32008 MCTRL_bOVDetected
32009 MCTRL_bMotorPhaseFault
32010 MCTRL_bEncoderComFault
32011 MCTRL_bIxtOverload
32012 MCTRL_bI2xtOverload
32013 MCTRL_bIdentificationActive
32014 MCTRL_bFlyingSyncActive
32015 MCTRL_bMMax
32016 MCTRL_bNMaxFault
32017 MCTRL_bFChopReduced
32018 MCTRL_bMotorPTCFault
32019 MCTRL_bMotorTempFault
32020 MCTRL_bAutoGSBIsActive
32021 MCTRL_bBrakeChopperFault
32022 MCTRL_bQspIsActive
32023 MCTRL_bHlgLoad
32024 MCTRL_bHlgStop
32025 MCTRL_bImpSperreAktiv
32026 MCTRL_bClampActive
32027 MCTRL_bMainsErr
32028 MCTRL_bNmaxForFchop
32029 MCTRL_bShortCircuit
32030 MCTRL_bEarthFault
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
750 L Firmware 02.00 - DMS EN 3.0 - 05/2009
32100 DCTRL_bInit
32101 DCTRL_bReady
32102 DCTRL_bReadyToSwitchOn
32103 DCTRL_bOperationEnable
32104 DCTRL_bWarning
32105 DCTRL_bTrouble
32106 DCTRL_bFail
32107 DCTRL_bSystemFail
32108 DCTRL_bSafeTorqueOff
32109 DCTRL_bIMPIsActive
32110 DCTRL_bCINHIsActive
32111 DCTRL_bSafetyIsActive
32112 DCTRL_bCwCcw
32113 DCTRL_bNactCompare
32200 MCK_bPosCtrlOn
32201 MCK_bSpeedCtrlIOn
32202 MCK_bTorquemodeOn
32203 MCK_bDcBrakeOn
32204 MCK_bBrkReleaseOut
32205 MCK_bBrkReleased
32206 MCK_bDeltaPosOn
32207 MCK_bPosDerivativeOn
32208 MCK_bMotorRefOffsetOn
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
32212 MCK_bHomDone
32213 MCK_bHomAvailable
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36009 L_DFlipFlop_Out_1
36010 L_RLQ_1_Qsp
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 751
8400 HighLine C | Software ManualParameter reference
Parameter list | C00701
36011 L_RLQ_1_Ccw
36012 L_DigDelay_Out_1
36013 L_Compare_Out_1
36014 L_Compare_Out_2
36015 L_Compare_Out_3
36016 L_Nset_RfgEq0_1
36017 L_DigitalLogic_1_bOut
36018 L_Counter_1_bEqual
36019 L_SigMonitor_b_bOut1
36020 L_SigMonitor_b_bOut2
36021 L_SigMonitor_b_bOut3
36022 L_SigMonitor_b_bOut4
36023 L_PCTRL_1_bActEqSet
36024 L_NLim_1_bLimitActive
36025 L_DFlipFlop_1_NegOut
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36028 L_Compare_4_bOut
36029 L_Compare_5_bOut
36030 L_Compare_6_bOut
36031 L_Compare_7_bOut
36032 L_Compare_8_bOut
36033 L_Compare_9_bOut
36034 L_Compare_10_bOut
36035 L_DFlipFlop_2_bOut
36036 L_DFlipFlop_2_bNegOut
36037 L_DigDelay_2_Out
36038 L_DigDelay_3_Out
36041 L_DigitalLogic_2_bOut
36042 L_DigitalLogic5_1_bOut
36043 L_DigitalLogic5_2_bOut
36044 L_NLim_2_bLimitActive
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
36055 L_PhaseIntK_1_bState
36056 L_PhaseIntK_2_bState
36057 L_Counter_2_bEqual
36058 L_Counter_3_bEqual
36059 L_RSFlipflop_1_bOut
36060 L_RSFlipflop_1_bNegOut
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
752 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36061 L_RSFlipflop_2_bOut
36062 L_RSFlipflop_2_bNegOut
36063 L_Transient_1_bOut
36064 L_Transient_2_bOut
36065 L_Transient_3_bOut
36066 L_Transient_4_bOut
36067 L_ConvWordToBits_1_bBit0
36068 L_ConvWordToBits_1_bBit1
36069 L_ConvWordToBits_1_bBit2
36070 L_ConvWordToBits_1_bBit3
36071 L_ConvWordToBits_1_bBit4
36072 L_ConvWordToBits_1_bBit5
36073 L_ConvWordToBits_1_bBit6
36074 L_ConvWordToBits_1_bBit7
36075 L_ConvWordToBits_1_bBit8
36076 L_ConvWordToBits_1_bBit9
36077 L_ConvWordToBits_1_bBit10
36078 L_ConvWordToBits_1_bBit11
36079 L_ConvWordToBits_1_bBit12
36080 L_ConvWordToBits_1_bBit13
36081 L_ConvWordToBits_1_bBit14
36082 L_ConvWordToBits_1_bBit15
36083 L_ConvWordToBits_2_bBit0
36084 L_ConvWordToBits_2_bBit1
36085 L_ConvWordToBits_2_bBit2
36086 L_ConvWordToBits_2_bBit3
36087 L_ConvWordToBits_2_bBit4
36088 L_ConvWordToBits_2_bBit5
36089 L_ConvWordToBits_2_bBit6
36090 L_ConvWordToBits_2_bBit7
36091 L_ConvWordToBits_2_bBit8
36092 L_ConvWordToBits_2_bBit9
36093 L_ConvWordToBits_2_bBit10
36094 L_ConvWordToBits_2_bBit11
36095 L_ConvWordToBits_2_bBit12
36096 L_ConvWordToBits_2_bBit13
36097 L_ConvWordToBits_2_bBit14
36098 L_ConvWordToBits_2_bBit15
36099 L_ConvWordToBits_3_bBit0
36100 L_ConvWordToBits_3_bBit1
36101 L_ConvWordToBits_3_bBit2
36102 L_ConvWordToBits_3_bBit3
36103 L_ConvWordToBits_3_bBit4
36104 L_ConvWordToBits_3_bBit5
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 753
8400 HighLine C | Software ManualParameter reference
Parameter list | C00701
36105 L_ConvWordToBits_3_bBit6
36106 L_ConvWordToBits_3_bBit7
36107 L_ConvWordToBits_3_bBit8
36108 L_ConvWordToBits_3_bBit9
36109 L_ConvWordToBits_3_bBit10
36110 L_ConvWordToBits_3_bBit11
36111 L_ConvWordToBits_3_bBit12
36112 L_ConvWordToBits_3_bBit13
36113 L_ConvWordToBits_3_bBit14
36114 L_ConvWordToBits_3_bBit15
36115 L_MckCtrlInterface_1_bFail
36116 L_MckStateInterface_1_bAccelerating
36117 L_MckStateInterface_1_bDecelerating
36118 L_MckStateInterface_1_bConstantSpeedDuty
36119 L_MckStateInterface_1_bSShaping
36120 L_MckStateInterface_1_bBusy
36121 L_MckStateInterface_1_bDone
36122 L_MckStateInterface_1_bHomingPosAvailable
36123 L_MckStateInterface_1_bHomingDone
36124 L_MckStateInterface_1_bDwellTime
36125 L_MckStateInterface_1_bInTarget
36126 L_MckStateInterface_1_bPosDone
36127 L_PosiShaftCtrlInterface_1_bQsp
36128 L_PosiShaftCtrlInterface_1_bRsp
36129 L_PosiShaftCtrlInterface_1_bTripSet
36130 L_PosiShaftCtrlInterface_1_bTripReset
36131 L_JogCtrlExtension_bRfgOut
36132 L_JogCtrlExtension_bJog1Out
36133 L_JogCtrlExtension_bJog2Out
42000 LA_NCtrl_bCInh
42001 LA_NCtrl_bFailReset
42002 LA_NCtrl_bSetQuickstop
42003 LA_NCtrl_bSetDCBrake
42004 LA_NCtrl_bRFG_Stop
42005 LA_NCtrl_bRFG_0
42007 LA_NCtrl_bSetSpeedCcw
42008 LA_NCtrl_bJogSpeed1
42009 LA_NCtrl_bJogSpeed2
42010 LA_NCtrl_bJogSpeed4
42011 LA_NCtrl_bJogSpeed8
42012 LA_NCtrl_bJogRamp1
42013 LA_NCtrl_bJogRamp2
42014 LA_NCtrl_bJogRamp4
42015 LA_NCtrl_bJogRamp8
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
754 L Firmware 02.00 - DMS EN 3.0 - 05/2009
42017 LA_NCtrl_bMPOTInAct
42018 LA_NCtrl_bMPOTUp
42019 LA_NCtrl_bMPOTDown
42020 LA_NCtrl_bMBRKRelease
42021 LA_NCtrl_bMANJogPos
42022 LA_NCtrl_bMANJogNeg
42023 LA_NCtrl_bGPAnalogSwitchSet
42024 LA_NCtrl_bGPDigitalDelayIn
42025 LA_NCtrl_bGPLogicIn1
42026 LA_NCtrl_bGPLogicIn2
42027 LA_NCtrl_bGPLogicIn3
42028 LA_NCtrl_bGPDFlipFlopInD
42029 LA_NCtrl_bGPDFlipFlopInClk
42030 LA_NCtrl_bGPDFlipFlopInClr
42031 LA_NCtrl_bMPotEnable
42032 LA_NCtrl_bPIDEnableInfluenceRamp
42033 LA_NCtrl_bPIDIOff
42034 LA_NCtrl_bRLQCw
42035 LA_NCtrl_bRLQCcw
42100 LA_TabPos_In_bCInh
42101 LA_TabPos_In_bFailReset
42102 LA_TabPos_In_bSetQuickstop
42103 LA_TabPos_In_bSetSpeedCcw
42104 LA_TabPos_In_bJogSpeed1
42105 LA_TabPos_In_bJogSpeed2
42106 LA_TabPos_In_bMPotEnable
42107 LA_TabPos_In_bMPotUp
42108 LA_TabPos_In_bMPotDown
42109 LA_TabPos_In_bMBrakeRelease
42110 LA_TabPos_In_bPosCtrlOn
42111 LA_TabPos_In_bLimitSwitchPos
42112 LA_TabPos_In_bLimitSwitchNeg
42113 LA_TabPos_In_bReleaseLimitSwitch
42114 LA_TabPos_In_bManJogPos
42115 LA_TabPos_In_bManJogNeg
42116 LA_TabPos_In_bManEnable2ndSpeed
42117 LA_TabPos_In_bEnableSpeedOverride
42118 LA_TabPos_In_bEnableAccOverride
42119 LA_TabPos_In_bHomeStartStop
42120 LA_TabPos_In_bHomeSetPosition
42121 LA_TabPos_In_bHomeResetPosition
42122 LA_TabPos_In_bHomeMark
42123 LA_TabPos_In_bPosSetProfilePosition
42124 LA_TabPos_In_bPosSetActualPosition
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 755
8400 HighLine C | Software ManualParameter reference
Parameter list | C00701
42125 LA_TabPos_In_bPosExecute
42126 LA_TabPos_In_bPosFinishTarget
42127 LA_TabPos_In_bPosDisableFollowProfile
42128 LA_TabPos_In_bPosStop
42129 LA_TabPos_In_bGPAnalogSwitchSet
42130 LA_TabPos_In_bGPDigitalDelayIn
42131 LA_TabPos_In_bGPLogicIn1
42132 LA_TabPos_In_bGPLogicIn2
42133 LA_TabPos_In_bGPLogicIn3
42134 LA_TabPos_In_bGPDFlipFlop_InD
42135 LA_TabPos_In_bGPDFlipFlop_InClk
42136 LA_TabPos_In_bGPDFlipFlop_InClr
42137 LA_TabPos_In_bGPCounter1ClkUp
42138 LA_TabPos_In_bGPCounter1ClkDown
42139 LA_TabPos_In_bGPCounter1Load
42140 LA_TabPos_In_bMckOperationMode_1
42141 LA_TabPos_In_bMckOperationMode_2
42142 LA_TabPos_In_bMckOperationMode_4
42143 LA_TabPos_In_bMckOperationMode_8
42144 LA_TabPos_In_bPosProfileNo_1
42145 LA_TabPos_In_bPosProfileNo_2
42146 LA_TabPos_In_bPosProfileNo_4
42147 LA_TabPos_In_bPosProfileNo_8
42148 LA_TabPos_In_bFreeIn1
42149 LA_TabPos_In_bFreeIn2
42150 LA_TabPos_In_bFreeIn3
42151 LA_TabPos_In_bFreeIn4
42152 LA_TabPos_In_bFreeIn5
42153 LA_TabPos_In_bFreeIn6
42154 LA_TabPos_In_bFreeIn7
42155 LA_TabPos_In_bFreeIn8
Subcodes Lenze setting Information
C00701/1 0: Not connected LA_NCtrl: bCInh(control input for setting controller inhibit)
C00701/2 16008: DigIn_CInh LA_NCtrl: bFailReset(control input for error acknowledgement)
C00701/3 0: Not connected LA_NCtrl: bSetQuickstop(control input for quick stop request)
C00701/4 16002: DigIn_bIn3 LA_NCtrl: bSetDCBrake(control input for DC-injection braking request)
C00701/5 0: Not connected LA_NCtrl: bRFG_Stop(control input for stopping the speed ramp function generator)
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
8400 HighLine C | Software ManualParameter referenceParameter list | C00701
756 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00701/6 0: Not connected LA_NCtrl: bRFG_0(control input for setting the speed ramp function generator to 0)
C00701/7 0: Not connected Reserved
C00701/8 16003: DigIn_bIn4 LA_NCtrl: bSetSpeedCcw(control input for change of direction of rotation)
C00701/9 16000: DigIn_bIn1 LA_NCtrl: bJogSpeed1(selection input for fixed setpoints)
C00701/10 16001: DigIn_bIn2 LA_NCtrl: bJogSpeed2(selection input for fixed setpoints)
C00701/11 0: Not connected LA_NCtrl: bJogSpeed4(selection input for fixed setpoints)
C00701/12 0: Not connected LA_NCtrl: bJogSpeed8(selection input for fixed setpoints)
C00701/13 0: Not connected LA_NCtrl: bJogRamp1(selection input for additional acceleration/deceleration times)
C00701/14 0: Not connected LA_NCtrl: bJogRamp2(selection input for additional acceleration/deceleration times)
C00701/15 0: Not connected LA_NCtrl: bJogRamp4(selection input for additional acceleration/deceleration times)
C00701/16 0: Not connected LA_NCtrl: bJogRamp8(selection input for additional acceleration/deceleration times)
C00701/17 0: Not connected LA_NCtrl: bMPOTInAct(control input for deactivation of motor potentiometer)
C00701/18 0: Not connected LA_NCtrl: bMPOTUp(control input for motor potentiometer ramp-up)
C00701/19 0: Not connected LA_NCtrl: bMPOTDown(control input for motor potentiometer ramp-down)
C00701/20 0: Not connected LA_NCtrl: bMBRKRelease(control input for manual holding brake release request)
C00701/21 0: Not connected LA_NCtrl: bMANJogPos(control input for manual jog in positive direction request)
C00701/22 0: Not connected LA_NCtrl: bMANJogNeg(control input for manual jog in negative direction request)
C00701/23 0: Not connected LA_NCtrl: bGPAnalogSwitchSet(control input for analog-value selector change-over)
C00701/24 0: Not connected LA_NCtrl: bGPDigitalDelayIn(input for digital signal with time delay)
C00701/25 0: Not connected LA_NCtrl: bGPLogicIn1(input signal 1 for digital logic)
C00701/26 0: Not connected LA_NCtrl: bGPLogicIn2(input signal 2 for digital logic)
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 757
8400 HighLine C | Software ManualParameter reference
Parameter list | C00705
C00705
C00706
C00710
C00701/27 0: Not connected LA_NCtrl: bGPLogicIn3(input signal 3 for digital logic)
C00701/28 0: Not connected LA_NCtrl: bGPDFlipFlopInD(control input for DFlipFlop setting signal)
C00701/29 0: Not connected LA_NCtrl: bGPDFlipFlopInClk(control input for DFlipFlop clock signal)
C00701/30 0: Not connected LA_NCtrl: bGPDFlipFlopInClr(control input for DFlipFlop reset signal)
C00701/31 0: Not connected LA_NCtrl: bMPotEnable(control input for activation of motor potentiometer)
C00701/32 0: Not connected LA_NCtrl: bPIDEnableInfluenceRamp(control input for activation of influence of output correcting variable of PID controller)
C00701/33 0: Not connected LA_NCtrl: bPIDIOff(control input for deactivation of PID controller I component)
C00701/34 20000: C_True LA_NCtrl: bRLQCw(control input for activation of CW direction of rotation of speed setpoint)
C00701/35 0: Not connected LA_NCtrl: bRLQCcw(control input for activation of CCW direction of rotation of speed setpoint)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16
Index: 23874d = 5D42h
Parameter | Name:
C00705 | LA_NCtrl_Out: analog signal listData type: UNSIGNED_16
Index: 23870d = 5D3Eh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00706 | LA_NCtrl_Out digital signal listData type: UNSIGNED_16
Index: 23869d = 5D3Dh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
Connection parameters for "Table positioning" application: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1000 LA_nCtrl_wDriveControlStatus
1001 LA_nCtrl_wFailNumber
1002 LA_nCtrl_nMotorCurrent_a
1003 LA_nCtrl_nMotorSpeedAct_a
1006 LA_nCtrl_nGPAnalogSwitchOut_a
1007 LA_nCtrl_nGPArithmetikOut_a
1008 LA_nCtrl_nGPMulDivOut_a
8400 HighLine C | Software ManualParameter referenceParameter list | C00710
758 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1009 LA_nCtrl_nGPSignalOut1_a
1010 LA_nCtrl_nGPSignalOut2_a
1011 LA_nCtrl_nGPSignalOut3_a
1012 LA_nCtrl_nGPSignalOut4_a
1013 LA_nCtrl_nMotorTorqueAct_a
1014 LA_nCtrl_nDCVoltage_a
1015 LA_nCtrl_nMotorVoltage_a
1016 LA_nCtrl_nMotorSpeedSet_a
1017 LA_nCtrl_wFailTypeDomain
1100 LA_TabPos_wDriveControlStatus
1101 LA_TabPos_wStateDetermFailNoLow
1102 LA_TabPos_wStateDetermFailNoHigh
1103 LA_TabPos_nMotorCurrent_a
1104 LA_TabPos_nMotorSpeedSet_a
1105 LA_TabPos_nMotorSpeedAct_a
1106 LA_TabPos_nMotorTorqueAct_a
1107 LA_TabPos_nDCVoltage_a
1108 LA_TabPos_nMotorVoltage_a
1109 LA_TabPos_wMckState1
1110 LA_TabPos_wMckState2
1111 LA_TabPos_wMckActOperationMode
1112 LA_TabPos_wActProfileNo
1113 LA_TabPos_wActPosMode
1114 LA_TabPos_nGPAnalogSwitchOut_a
1115 LA_TabPos_nGPArithmetikOut_a
1116 LA_TabPos_nGPMulDivOut_a
1117 LA_TabPos_nGPSignalOut1_a
1118 LA_TabPos_nGPSignalOut2_a
1119 LA_TabPos_nGPSignalOut3_a
1120 LA_TabPos_nGPSignalOut4_a
1121 LA_TabPos_wGPCounter1Out
1122 LA_TabPos_wFreeOut1
1123 LA_TabPos_wFreeOut2
1124 LA_TabPos_wFreeOut3
1125 LA_TabPos_wFreeOut4
1126 LA_TabPos_nPosCtrlOutLimit_a
1127 LA_TabPos_nPosCtrlPAdapt_a
16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 759
8400 HighLine C | Software ManualParameter reference
Parameter list | C00710
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16014 DIGIN_wCountIn1_LW
16015 DIGIN_wCountIn1_HW
16016 DIGIN_nFreqIn12_a
16017 DIGIN_nFreqIn12_v
16018 DIGIN_wCountIn6_LW
16019 DIGIN_wCountIn6_HW
16020 DIGIN_nFreqIn67_a
16021 DIGIN_nFreqIn67_v
16100 LS_DataAccess_Out1
16101 LS_DataAccess_Out2
16102 LS_DataAccess_Out3
16103 LS_DataAccess_Out4
16104 LP_MciIn_wCtrl
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
16113 LP_MciIn_wIn10
16114 LP_MciIn_wIn11
16115 LP_MciIn_wIn12
16116 LP_MciIn_wIn13
16117 LP_MciIn_wIn14
16118 LP_MciIn_wIn15
16119 LP_MciIn_wIn16
16120 LS_Keypad_nTorqueMotLim_a
16121 LS_Keypad_nTorqueGenLim_a
16122 LS_Keypad_nMainSetValue_a
20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
8400 HighLine C | Software ManualParameter referenceParameter list | C00710
760 L Firmware 02.00 - DMS EN 3.0 - 05/2009
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
32000 MCTRL_nMotorSpeedAct_a
32001 MCTRL_nOutputSpeedCtrl_a
32002 MCTRL_nInputJerkCtrl_a
32003 MCTRL_nInputTorqueCtrl_a
32004 MCTRL_nMotorTorqueAct_a
32005 MCTRL_nActualFluxx_a
32006 MCTRL_nDCVoltage_a
32007 MCTRL_nStatorCurrentIS_a
32008 MCTRL_nEffCurrentIq_a
32009 MCTRL_nReaktCurrentId_a
32010 MCTRL_wMaxMotorSpeed
32011 MCTRL_wMaxMotorTorque
32012 MCTRL_nMotorVoltage_a
32013 MCTRL_nMotorFreqAct_a
32014 MCTRL_nEffSpeedSetValue_a
32015 MCTRL_nIxTRate_a
32016 MCTRL_nI2xTRate_a
32017 MCTRL_nOutputPosCtrl_a
32018 MCTRL_nHlgSetValue_a
32019 MCTRL_nMotorSpeedAct_v
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 761
8400 HighLine C | Software ManualParameter reference
Parameter list | C00710
32100 DCTRL_wDeviceStateWord
32101 DCTRL_wDeviceAuxStateWord
32102 DCTRL_wDetermFailNoLow
32103 DCTRL_wDetermFailNoHigh
32104 DCTRL_wFrei_2
32200 MCK_nSpeedSet_v
32201 MCK_nSpeedCtrlI_a
32202 MCK_nSpeedSetValue_a
32203 MCK_nTorqueSetValue_a
32204 MCK_wActProfileNo
32205 MCK_wFollowProfileNo
32206 MCK_wMotionState1
32207 MCK_wMotionState2
32208 MCK_wAuxState
32209 MCK_nPWMAngleOffset_a
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
36000 L_Absolut _Out_1
36001 L_AddSub_Out_1
36002 L_OffsetGain_Out_1
36003 L_OffsetGain_Out_2
36004 L_OffsetGainPar_1
36005 L_OffsetGainPar_2
36006 L_GainOffset_Out_1
36007 L_GainOffset_Out_2
36008 L_GainOffsetPar_1
36009 L_GainOffsetPar_2
36010 L_Negation_Out_1
36011 L_Aritmethik_Out_1
36012 L_Aritmethik_Out_2
36013 L_AnalogSwitch_Out_1
36014 L_AnalogSwitch_Out_2
36015 L_AnalogSwitch_Out_3
36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36019 L_MotorPoti_1_Out
36020 L_PCTRL_1_Out
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
8400 HighLine C | Software ManualParameter referenceParameter list | C00710
762 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36021 L_SigMonitor_a_Out1
36022 L_SigMonitor_a_Out2
36023 L_NLim_1_nOut_a
36024 L_Counter_1_wOut
36025 L_OffsetGainPar_3
36026 L_GainOffsetPar_3
36027 L_SigMonitor_a_Out3
36028 L_SigMonitor_a_Out4
36029 L_MulDiv_1_nOut_a
36030 L_NLim_1_wState
36031 L_NSet_1_wState
36032 L_NSet_1_nSetValue
36033 L_PT1_1_nOut_a
36034 L_Absolut _Out_2
36035 L_AnalogSwitch_4_Out
36036 L_AnalogSwitch_5_Out
36037 L_Aritmethik_3_Out
36038 L_Aritmethik_4_Out
36039 L_Aritmethik_5_Out
36045 L_GainOffset_Out_3
36053 L_MulDiv_2_nOut_a
36054 L_Negation_2_Out
36055 L_NLim_2_nOut_a
36056 L_NLim_2_wState
36057 L_OffsetGain_Out_3
36058 L_PT1_2_nOut_a
36059 L_PT1_3_nOut_a
36064 L_SampleHold_1_nOut_a
36065 L_SampleHold_2_nOut_a
36068 L_Counter_2_wOut
36069 L_Counter_3_wOut
36073 L_DT1_1_nOut_a
36074 L_ConvBitsToWord_1_wOut
36075 L_ConvBitsToWord_2_wOut
36076 L_ConvBitsToWord_3_wOut
36077 L_ConvDIntToWords_1_wOutLWord
36078 L_ConvDIntToWords_1_wOutHWord
36079 L_ConvDIntToWords_2_wOutLWord
36080 L_ConvDIntToWords_2_wOutHWord
36081 L_ConvDIntToWords_3_wOutLWord
36082 L_ConvDIntToWords_3_wOutHWord
36083 L_MckCtrlInterface_1_wOutMckPosCtrl_1
36084 L_MckCtrlInterface_1_wOutMckPosCtrl_2
36085 L_MckCtrlInterface_1_wFailState
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 763
8400 HighLine C | Software ManualParameter reference
Parameter list | C00710
36086 L_MckStateInterface_1_wOperationMode
36087 L_MckStateInterface_1_wActProfileNo
36088 L_MckStateInterface_1_wActPosMode
36089 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_1
36090 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_2
36091 L_PCTRL_1_nPIDOut2_a
36092 L_PCTRL_1_nPIDOut_a
36093 L_PCTRL_1_nInfluenceOut_a
42000 LA_nCtrl_In_wCANDriveControl
42001 LA_nCtrl_In_wCCMDriveControl
42002 LA_nCtrl_In_nTorqueMotLim
42003 LA_nCtrl_In_nTorqueGenLim
42004 LA_nCtrl_In_nPIDVpAdapt_a
42005 LA_nCtrl_In_nPIDActValue_a
42006 LA_nCtrl_In_nMainSetValue
42007 LA_nCtrl_In_nAuxSetValue
42008 LA_nCtrl_In_nGPAnalogSwitchIn1_a
42009 LA_nCtrl_In_nGPAnalogSwitchIn2_a
42010 LA_nCtrl_In_nGPArithmetikIn1_a
42011 LA_nCtrl_In_nGPArithmetikIn2_a
42012 LA_nCtrl_In_nGPMulDivIn_a
42013 LA_nCtrl_In_nGPCompareIn1_a
42014 LA_nCtrl_In_nGPCompareIn2_a
42015 LA_nCtrl_In_nVoltageAdd_a
42016 LA_nCtrl_In_nPIDInfluence_a
42017 LA_nCtrl_In_nPIDSetValue_a
42018 LA_nCtrl_In_nPWMAngleOffset_a
42100 LA_TabPos_In_wCanDriveControl
42101 LA_TabPos_In_wMciDriveControl
42102 LA_TabPos_In_nTorqueMotLim_a
42103 LA_TabPos_In_nTorqueGenLim_a
42104 LA_TabPos_In_nMainSetValue_a
42105 LA_TabPos_In_nAuxSetValue_a
42106 LA_TabPos_In_wMckCtrl1
42107 LA_TabPos_In_wMckCtrl2
42108 LA_TabPos_In_wMckOperationMode
42109 LA_TabPos_In_wPosProfileMode
42110 LA_TabPos_In_wPosProfileNo
42111 LA_TabPos_In_nGPAnalogSwitchIn1_a
42112 LA_TabPos_In_nGPAnalogSwitchIn2_a
42113 LA_TabPos_In_nGPArithmetikIn1_a
42114 LA_TabPos_In_nGPArithmetikIn2_a
42115 LA_TabPos_In_nGPMulDivIn_a
42116 LA_TabPos_In_nGPCompareIn1_a
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
8400 HighLine C | Software ManualParameter referenceParameter list | C00710
764 L Firmware 02.00 - DMS EN 3.0 - 05/2009
42117 LA_TabPos_In_nGPCompareIn2_a
42118 LA_TabPos_In_wGPCounter1LdVal
42119 LA_TabPos_In_wGPCounter1CmpVal
42120 LA_TabPos_In_nSpeedOverride_a
42121 LA_TabPos_In_nAccOverride_a
42122 LA_TabPos_In_wFreeIn1
42123 LA_TabPos_In_wFreeIn2
42124 LA_TabPos_In_wFreeIn3
42125 LA_TabPos_In_wFreeIn4
Subcodes Lenze setting Information
C00710/1 0: Not connected LA_TabPos: wCanDriveControl(input for control word from CAN to device control)
C00710/2 0: Not connected LA_TabPos: wMciDriveControl(input for control word from communication interface to device control)
C00710/3 0: Not connected LA_TabPos: nTorqueMotLim_a(input for maximum torque in motor mode)
C00710/4 0: Not connected LA_TabPos: nTorqueGenLim_a(input for maximum torque in generator mode)
C00710/5 0: Not connected LA_TabPos: nMainSetValue_a(input for main speed setpoint)
C00710/6 0: Not connected LA_TabPos: nAuxSetValue_a(input for additional speed setpoint)
C00710/7 0: Not connected LA_TabPos: wMckCtrl1(input for MCK control word 1)
C00710/8 0: Not connected LA_TabPos: wMckCtrl2(input for MCK control word 2)
C00710/9 0: Not connected LA_TabPos: wMckOperationMode(input for selection of MCK operating mode)
C00710/10 0: Not connected LA_TabPos: wPosProfileMode(input for selection of MCK positioning mode in positioning mode)
C00710/11 0: Not connected LA_TabPos: wPosProfileNo(input for MCK positioning profile number in positioning mode)
C00710/12 0: Not connected LA_TabPos: nGPAnalogSwitchIn1_a(input for analog-value selector analog signal 1)
C00710/13 0: Not connected LA_TabPos: nGPAnalogSwitchIn2_a(input for analog-value selector analog signal 2)
C00710/14 0: Not connected LA_TabPos: nGPArithmetikIn1_a(input for arithmetic function analog signal 1)
C00710/15 0: Not connected LA_TabPos: nGPArithmetikIn2_a(input for arithmetic function analog signal 2)
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 765
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
C00711
C00710/16 0: Not connected LA_TabPos: nGPMulDivIn_a(input for analog signal for muliplication/division)
C00710/17 0: Not connected LA_TabPos: nGPCompareIn1_a(input for comparison operation analog signal 1)
C00710/18 0: Not connected LA_TabPos: nGPCompareIn2_a(input for comparison operation analog signal 2)
C00710/19 0: Not connected LA_TabPos: wGPCounter1LdVal(input for load value for counter module 1)
C00710/20 0: Not connected LA_TabPos: wGPCounter1CmpVal(input for comparison value for counter module 1)
C00710/21 0: Not connected LA_TabPos: nSpeedOverride_a(input for speed override)
C00710/22 0: Not connected LA_TabPos: nAccOverride_a(input for acceleration override)
C00710/23 0: Not connected LA_TabPos: wFreeIn1(input for user signal 1)
C00710/24 0: Not connected LA_TabPos: wFreeIn2(input for user signal 2)
C00710/25 0: Not connected LA_TabPos: wFreeIn3(input for user signal 3)
C00710/26 0: Not connected LA_TabPos: wFreeIn4(input for user signal 4)
C00710/27 0: Not connected LA_TabPos: nPosCtrlOutLimit(input for correcting variable limitation of position controller)
C00710/28 0: Not connected LA_TabPos: nPosCtrlPAdapt(input for adaptation of position controller gain)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23865d = 5D39h
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Connection parameters for "Table positioning" application: Binary inputs • Selection of the binary output signals for connection with the binary input signals • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the
subcodes.
Selection list Information
0 Not connected
1000 LA_nCtrl_bDriveReady
1001 LA_nCtrl_bDriveFail
1002 LA_nCtrl_bCInhActive
1003 LA_nCtrl_bQSPIsActive
1004 LA_nCtrl_bSpeedCcw
1005 LA_nCtrl_bSpeedActCompare
1008 LA_nCtrl_bGPDigitalDelayOut
1009 LA_nCtrl_bGPLogicOut
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
766 L Firmware 02.00 - DMS EN 3.0 - 05/2009
1010 LA_nCtrl_bGPSignalOut1
1011 LA_nCtrl_bGPSignalOut2
1012 LA_nCtrl_bGPSignalOut3
1013 LA_nCtrl_bGPSignalOut4
1014 LA_nCtrl_bOverLoadActive
1015 LA_nCtrl_bBrakeReleaseOut
1016 LA_nCtrl_bBrakeReleased
1017 LA_nCtrl_bGPCompareOut
1018 LA_nCtrl_bUnderLoadActive
1019 LA_nCtrl_bImaxActive
1020 LA_nCtrl_bSpeedSetReached
1021 LA_nCtrl_bSpeedActEqSet
1022 LA_nCtrl_bGPDFlipFlopOut
1023 LA_nCtrl_bGPDFlipFlopNegOut
1100 LA_TabPos_bDriveFail
1101 LA_TabPos_bDriveReady
1102 LA_TabPos_bCInhActive
1103 LA_TabPos_bQSPIsActive
1104 LA_TabPos_bSpeedCcw
1105 LA_TabPos_bSpeedActCompare
1106 LA_TabPos_bImaxActive
1107 LA_TabPos_bSpeedSetReached
1108 LA_TabPos_bMBrakeReleaseOut
1109 LA_TabPos_bMBrakeReleased
1110 LA_TabPos_bHomeDone
1111 LA_TabPos_bHomePosAvailable
1112 LA_TabPos_bProfileDone
1113 LA_TabPos_bProfileBusy
1114 LA_TabPos_bAccelerating
1115 LA_TabPos_bConstantDuty
1116 LA_TabPos_bDecelerating
1117 LA_TabPos_bDwellTime
1118 LA_TabPos_bInTarget
1119 LA_TabPos_bGPDigitalDelayOut
1120 LA_TabPos_bGPLogicOut
1121 LA_TabPos_bGPCompareOut
1122 LA_TabPos_bGPSignalOut1
1123 LA_TabPos_bGPSignalOut2
1124 LA_TabPos_bGPSignalOut3
1125 LA_TabPos_bGPSignalOut4
1126 LA_TabPos_bGPDFlipFlop_Out
1127 LA_TabPos_bGPDFlipFlop_NegOut
1128 LA_TabPos_bGPCounter1Equal
1129 LA_TabPos_bFreeOut1
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 767
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
1130 LA_TabPos_bFreeOut2
1131 LA_TabPos_bFreeOut3
1132 LA_TabPos_bFreeOut4
1133 LA_TabPos_bFreeOut5
1134 LA_TabPos_bFreeOut6
1135 LA_TabPos_bFreeOut7
1136 LA_TabPos_bFreeOut8
16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16009 DigIn_bCountIn1_Compare
16010 DigIn_bCountIn6_Compare
16011 Ain_bCurrentErrorIn1
16012 Ain_bCurrentErrorIn2
16013 CAN1_bCtrl1_B0
16014 CAN1_bCtrl1_B1
16015 CAN1_bCtrl1_B2
16016 CAN1_bCtrl1_B3
16017 CAN1_bCtrl1_B4
16018 CAN1_bCtrl1_B5
16019 CAN1_bCtrl1_B6
16020 CAN1_bCtrl1_B7
16021 CAN1_bCtrl1_B8
16022 CAN1_bCtrl1_B9
16023 CAN1_bCtrl1_B10
16024 CAN1_bCtrl1_B11
16025 CAN1_bCtrl1_B12
16026 CAN1_bCtrl1_B13
16027 CAN1_bCtrl1_B14
16028 CAN1_bCtrl1_B15
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
768 L Firmware 02.00 - DMS EN 3.0 - 05/2009
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16061 MciIn_bCtrl_B0
16062 MciIn_bCtrl_B1
16063 MciIn_bCtrl_B2
16064 MciIn_bCtrl_B3
16065 MciIn_bCtrl_B4
16066 MciIn_bCtrl_B5
16067 MciIn_bCtrl_B6
16068 MciIn_bCtrl_B7
16069 MciIn_bCtrl_B8
16070 MciIn_bCtrl_B9
16071 MciIn_bCtrl_B10
16072 MciIn_bCtrl_B11
16073 MciIn_bCtrl_B12
16074 MciIn_bCtrl_B13
16075 MciIn_bCtrl_B14
16076 MciIn_bCtrl_B15
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 769
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
16087 MciIn_bIn1_B10
16088 MciIn_bIn1_B11
16089 MciIn_bIn1_B12
16090 MciIn_bIn1_B13
16091 MciIn_bIn1_B14
16092 MciIn_bIn1_B15
16093 LS_Keypad_bSetQuickstop
16094 LS_Keypad_bSetDCBrake
16095 LS_Keypad_bSetSpeedCcw
16096 LS_Keypad_bJogSpeed1
16097 LS_Keypad_bJogSpeed2
16098 LS_Keypad_bMPotEnable
16099 LS_Keypad_bMPotUp
16100 LS_Keypad_bMPotDown
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
770 L Firmware 02.00 - DMS EN 3.0 - 05/2009
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32001 MCTRL_bHeatSinkWarning
32002 MCTRL_bLimPosCtrlOut
32003 MCTRL_bLimSpeedCtrlOut
32004 MCTRL_bLimSpeedSetVal
32005 MCTRL_bLimTorqueSetVal
32006 MCTRL_bLimCurrentSetVal
32007 MCTRL_bUVDetected
32008 MCTRL_bOVDetected
32009 MCTRL_bMotorPhaseFault
32010 MCTRL_bEncoderComFault
32011 MCTRL_bIxtOverload
32012 MCTRL_bI2xtOverload
32013 MCTRL_bIdentificationActive
32014 MCTRL_bFlyingSyncActive
32015 MCTRL_bMMax
32016 MCTRL_bNMaxFault
32017 MCTRL_bFChopReduced
32018 MCTRL_bMotorPTCFault
32019 MCTRL_bMotorTempFault
32020 MCTRL_bAutoGSBIsActive
32021 MCTRL_bBrakeChopperFault
32022 MCTRL_bQspIsActive
32023 MCTRL_bHlgLoad
32024 MCTRL_bHlgStop
32025 MCTRL_bImpSperreAktiv
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 771
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
32026 MCTRL_bClampActive
32027 MCTRL_bMainsErr
32028 MCTRL_bNmaxForFchop
32029 MCTRL_bShortCircuit
32030 MCTRL_bEarthFault
32100 DCTRL_bInit
32101 DCTRL_bReady
32102 DCTRL_bReadyToSwitchOn
32103 DCTRL_bOperationEnable
32104 DCTRL_bWarning
32105 DCTRL_bTrouble
32106 DCTRL_bFail
32107 DCTRL_bSystemFail
32108 DCTRL_bSafeTorqueOff
32109 DCTRL_bIMPIsActive
32110 DCTRL_bCINHIsActive
32111 DCTRL_bSafetyIsActive
32112 DCTRL_bCwCcw
32113 DCTRL_bNactCompare
32200 MCK_bPosCtrlOn
32201 MCK_bSpeedCtrlIOn
32202 MCK_bTorquemodeOn
32203 MCK_bDcBrakeOn
32204 MCK_bBrkReleaseOut
32205 MCK_bBrkReleased
32206 MCK_bDeltaPosOn
32207 MCK_bPosDerivativeOn
32208 MCK_bMotorRefOffsetOn
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
32212 MCK_bHomDone
32213 MCK_bHomAvailable
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
772 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36009 L_DFlipFlop_Out_1
36010 L_RLQ_1_Qsp
36011 L_RLQ_1_Ccw
36012 L_DigDelay_Out_1
36013 L_Compare_Out_1
36014 L_Compare_Out_2
36015 L_Compare_Out_3
36016 L_Nset_RfgEq0_1
36017 L_DigitalLogic_1_bOut
36018 L_Counter_1_bEqual
36019 L_SigMonitor_b_bOut1
36020 L_SigMonitor_b_bOut2
36021 L_SigMonitor_b_bOut3
36022 L_SigMonitor_b_bOut4
36023 L_PCTRL_1_bActEqSet
36024 L_NLim_1_bLimitActive
36025 L_DFlipFlop_1_NegOut
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36028 L_Compare_4_bOut
36029 L_Compare_5_bOut
36030 L_Compare_6_bOut
36031 L_Compare_7_bOut
36032 L_Compare_8_bOut
36033 L_Compare_9_bOut
36034 L_Compare_10_bOut
36035 L_DFlipFlop_2_bOut
36036 L_DFlipFlop_2_bNegOut
36037 L_DigDelay_2_Out
36038 L_DigDelay_3_Out
36041 L_DigitalLogic_2_bOut
36042 L_DigitalLogic5_1_bOut
36043 L_DigitalLogic5_2_bOut
36044 L_NLim_2_bLimitActive
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
36055 L_PhaseIntK_1_bState
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 773
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
36056 L_PhaseIntK_2_bState
36057 L_Counter_2_bEqual
36058 L_Counter_3_bEqual
36059 L_RSFlipflop_1_bOut
36060 L_RSFlipflop_1_bNegOut
36061 L_RSFlipflop_2_bOut
36062 L_RSFlipflop_2_bNegOut
36063 L_Transient_1_bOut
36064 L_Transient_2_bOut
36065 L_Transient_3_bOut
36066 L_Transient_4_bOut
36067 L_ConvWordToBits_1_bBit0
36068 L_ConvWordToBits_1_bBit1
36069 L_ConvWordToBits_1_bBit2
36070 L_ConvWordToBits_1_bBit3
36071 L_ConvWordToBits_1_bBit4
36072 L_ConvWordToBits_1_bBit5
36073 L_ConvWordToBits_1_bBit6
36074 L_ConvWordToBits_1_bBit7
36075 L_ConvWordToBits_1_bBit8
36076 L_ConvWordToBits_1_bBit9
36077 L_ConvWordToBits_1_bBit10
36078 L_ConvWordToBits_1_bBit11
36079 L_ConvWordToBits_1_bBit12
36080 L_ConvWordToBits_1_bBit13
36081 L_ConvWordToBits_1_bBit14
36082 L_ConvWordToBits_1_bBit15
36083 L_ConvWordToBits_2_bBit0
36084 L_ConvWordToBits_2_bBit1
36085 L_ConvWordToBits_2_bBit2
36086 L_ConvWordToBits_2_bBit3
36087 L_ConvWordToBits_2_bBit4
36088 L_ConvWordToBits_2_bBit5
36089 L_ConvWordToBits_2_bBit6
36090 L_ConvWordToBits_2_bBit7
36091 L_ConvWordToBits_2_bBit8
36092 L_ConvWordToBits_2_bBit9
36093 L_ConvWordToBits_2_bBit10
36094 L_ConvWordToBits_2_bBit11
36095 L_ConvWordToBits_2_bBit12
36096 L_ConvWordToBits_2_bBit13
36097 L_ConvWordToBits_2_bBit14
36098 L_ConvWordToBits_2_bBit15
36099 L_ConvWordToBits_3_bBit0
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
774 L Firmware 02.00 - DMS EN 3.0 - 05/2009
36100 L_ConvWordToBits_3_bBit1
36101 L_ConvWordToBits_3_bBit2
36102 L_ConvWordToBits_3_bBit3
36103 L_ConvWordToBits_3_bBit4
36104 L_ConvWordToBits_3_bBit5
36105 L_ConvWordToBits_3_bBit6
36106 L_ConvWordToBits_3_bBit7
36107 L_ConvWordToBits_3_bBit8
36108 L_ConvWordToBits_3_bBit9
36109 L_ConvWordToBits_3_bBit10
36110 L_ConvWordToBits_3_bBit11
36111 L_ConvWordToBits_3_bBit12
36112 L_ConvWordToBits_3_bBit13
36113 L_ConvWordToBits_3_bBit14
36114 L_ConvWordToBits_3_bBit15
36115 L_MckCtrlInterface_1_bFail
36116 L_MckStateInterface_1_bAccelerating
36117 L_MckStateInterface_1_bDecelerating
36118 L_MckStateInterface_1_bConstantSpeedDuty
36119 L_MckStateInterface_1_bSShaping
36120 L_MckStateInterface_1_bBusy
36121 L_MckStateInterface_1_bDone
36122 L_MckStateInterface_1_bHomingPosAvailable
36123 L_MckStateInterface_1_bHomingDone
36124 L_MckStateInterface_1_bDwellTime
36125 L_MckStateInterface_1_bInTarget
36126 L_MckStateInterface_1_bPosDone
36127 L_PosiShaftCtrlInterface_1_bQsp
36128 L_PosiShaftCtrlInterface_1_bRsp
36129 L_PosiShaftCtrlInterface_1_bTripSet
36130 L_PosiShaftCtrlInterface_1_bTripReset
36131 L_JogCtrlExtension_bRfgOut
36132 L_JogCtrlExtension_bJog1Out
36133 L_JogCtrlExtension_bJog2Out
42000 LA_NCtrl_bCInh
42001 LA_NCtrl_bFailReset
42002 LA_NCtrl_bSetQuickstop
42003 LA_NCtrl_bSetDCBrake
42004 LA_NCtrl_bRFG_Stop
42005 LA_NCtrl_bRFG_0
42007 LA_NCtrl_bSetSpeedCcw
42008 LA_NCtrl_bJogSpeed1
42009 LA_NCtrl_bJogSpeed2
42010 LA_NCtrl_bJogSpeed4
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 775
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
42011 LA_NCtrl_bJogSpeed8
42012 LA_NCtrl_bJogRamp1
42013 LA_NCtrl_bJogRamp2
42014 LA_NCtrl_bJogRamp4
42015 LA_NCtrl_bJogRamp8
42017 LA_NCtrl_bMPOTInAct
42018 LA_NCtrl_bMPOTUp
42019 LA_NCtrl_bMPOTDown
42020 LA_NCtrl_bMBRKRelease
42021 LA_NCtrl_bMANJogPos
42022 LA_NCtrl_bMANJogNeg
42023 LA_NCtrl_bGPAnalogSwitchSet
42024 LA_NCtrl_bGPDigitalDelayIn
42025 LA_NCtrl_bGPLogicIn1
42026 LA_NCtrl_bGPLogicIn2
42027 LA_NCtrl_bGPLogicIn3
42028 LA_NCtrl_bGPDFlipFlopInD
42029 LA_NCtrl_bGPDFlipFlopInClk
42030 LA_NCtrl_bGPDFlipFlopInClr
42031 LA_NCtrl_bMPotEnable
42032 LA_NCtrl_bPIDEnableInfluenceRamp
42033 LA_NCtrl_bPIDIOff
42034 LA_NCtrl_bRLQCw
42035 LA_NCtrl_bRLQCcw
42100 LA_TabPos_In_bCInh
42101 LA_TabPos_In_bFailReset
42102 LA_TabPos_In_bSetQuickstop
42103 LA_TabPos_In_bSetSpeedCcw
42104 LA_TabPos_In_bJogSpeed1
42105 LA_TabPos_In_bJogSpeed2
42106 LA_TabPos_In_bMPotEnable
42107 LA_TabPos_In_bMPotUp
42108 LA_TabPos_In_bMPotDown
42109 LA_TabPos_In_bMBrakeRelease
42110 LA_TabPos_In_bPosCtrlOn
42111 LA_TabPos_In_bLimitSwitchPos
42112 LA_TabPos_In_bLimitSwitchNeg
42113 LA_TabPos_In_bReleaseLimitSwitch
42114 LA_TabPos_In_bManJogPos
42115 LA_TabPos_In_bManJogNeg
42116 LA_TabPos_In_bManEnable2ndSpeed
42117 LA_TabPos_In_bEnableSpeedOverride
42118 LA_TabPos_In_bEnableAccOverride
42119 LA_TabPos_In_bHomeStartStop
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
776 L Firmware 02.00 - DMS EN 3.0 - 05/2009
42120 LA_TabPos_In_bHomeSetPosition
42121 LA_TabPos_In_bHomeResetPosition
42122 LA_TabPos_In_bHomeMark
42123 LA_TabPos_In_bPosSetProfilePosition
42124 LA_TabPos_In_bPosSetActualPosition
42125 LA_TabPos_In_bPosExecute
42126 LA_TabPos_In_bPosFinishTarget
42127 LA_TabPos_In_bPosDisableFollowProfile
42128 LA_TabPos_In_bPosStop
42129 LA_TabPos_In_bGPAnalogSwitchSet
42130 LA_TabPos_In_bGPDigitalDelayIn
42131 LA_TabPos_In_bGPLogicIn1
42132 LA_TabPos_In_bGPLogicIn2
42133 LA_TabPos_In_bGPLogicIn3
42134 LA_TabPos_In_bGPDFlipFlop_InD
42135 LA_TabPos_In_bGPDFlipFlop_InClk
42136 LA_TabPos_In_bGPDFlipFlop_InClr
42137 LA_TabPos_In_bGPCounter1ClkUp
42138 LA_TabPos_In_bGPCounter1ClkDown
42139 LA_TabPos_In_bGPCounter1Load
42140 LA_TabPos_In_bMckOperationMode_1
42141 LA_TabPos_In_bMckOperationMode_2
42142 LA_TabPos_In_bMckOperationMode_4
42143 LA_TabPos_In_bMckOperationMode_8
42144 LA_TabPos_In_bPosProfileNo_1
42145 LA_TabPos_In_bPosProfileNo_2
42146 LA_TabPos_In_bPosProfileNo_4
42147 LA_TabPos_In_bPosProfileNo_8
42148 LA_TabPos_In_bFreeIn1
42149 LA_TabPos_In_bFreeIn2
42150 LA_TabPos_In_bFreeIn3
42151 LA_TabPos_In_bFreeIn4
42152 LA_TabPos_In_bFreeIn5
42153 LA_TabPos_In_bFreeIn6
42154 LA_TabPos_In_bFreeIn7
42155 LA_TabPos_In_bFreeIn8
Subcodes Lenze setting Information
C00711/1 0: Not connected LA_TabPos: bCInh(control input for setting controller inhibit)
C00711/2 0: Not connected LA_TabPos: bFailReset(control input for error acknowledgement)
C00711/3 0: Not connected LA_TabPos: bSetQuickstop(control input for quick stop request)
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 777
8400 HighLine C | Software ManualParameter reference
Parameter list | C00711
C00711/4 0: Not connected LA_TabPos: bSetSpeedCcw(control input for negation of speed direction)
C00711/5 0: Not connected LA_TabPos: bJogSpeed1(control input for fixed speed selection valency 1)
C00711/6 0: Not connected LA_TabPos: bJogSpeed2(control input for fixed speed selection valency 2)
C00711/7 0: Not connected LA_TabPos: bMPotEnable(control input for activation of motor potentiometer)
C00711/8 0: Not connected LA_TabPos: bMPotUp(control input for motor potentiometer ramp-up)
C00711/9 0: Not connected LA_TabPos: bMPotDown(control input for motor potentiometer ramp-down)
C00711/10 0: Not connected LA_TabPos: bMBrakeRelease(control input for manual holding brake release request)
C00711/11 0: Not connected LA_TabPos: bPosCtrlOn(control input for activation of position controller)
C00711/12 0: Not connected LA_TabPos: bLimitSwitchPos(input for positive hardware limit switch signal)
C00711/13 0: Not connected LA_TabPos: bLimitSwitchNeg(input for negative hardware limit switch signal)
C00711/14 0: Not connected LA_TabPos: bReleaseLimitSwitch(control input for hardware limit switch retracting request)
C00711/15 0: Not connected LA_TabPos: bManJogPos(control input for manual jog in positive direction request)
C00711/16 0: Not connected LA_TabPos: bManJogNeg(control input for manual jog in negative direction request)
C00711/17 0: Not connected LA_TabPos: bManEnable2ndSpeed(control input for activation of the second manual speed for manual jog)
C00711/18 0: Not connected LA_TabPos: bEnableSpeedOverride(control input for activation of speed override)
C00711/19 0: Not connected LA_TabPos: bEnableAccOverride(control input for activation of acceleration override)
C00711/20 0: Not connected LA_TabPos: bHomeStartStop(control input for start/stop homing)
C00711/21 0: Not connected LA_TabPos: bHomeSetPosition(control input for setting the home position)
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
8400 HighLine C | Software ManualParameter referenceParameter list | C00711
778 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00711/22 0: Not connected LA_TabPos: bHomeResetPosition(control input for reset of "Home position known")
C00711/23 0: Not connected LA_TabPos: bHomeMark(input for pre-stop signal for homing)
C00711/24 0: Not connected LA_TabPos: bPosSetProfilePosition(control input for accepting the profile position in the profile data set)
C00711/25 0: Not connected LA_TabPos: bPosSetActualPosition(control input for accepting the current position in the profile data set)
C00711/26 0: Not connected LA_TabPos: bPosExecute(control input for positioning start)
C00711/27 0: Not connected LA_TabPos: bPosFinishTarget(control input for completion of positioning to target position)
C00711/28 0: Not connected LA_TabPos: bPosDisableFollowProfile(control input for suppression of sequence profile linkage)
C00711/29 0: Not connected LA_TabPos: bPosStop(control input for interruption of profile generation by ramp-down procedure)
C00711/30 0: Not connected LA_TabPos: bGPAnalogSwitchSet(control input for analog-value selector change-over)
C00711/31 0: Not connected LA_TabPos: bGPDigitalDelayIn(input for digital signal with time delay)
C00711/32 0: Not connected LA_TabPos: bGPLogicIn1(input signal 1 for digital logic)
C00711/33 0: Not connected LA_TabPos: bGPLogicIn2(input signal 2 for digital logic)
C00711/34 0: Not connected LA_TabPos: bGPLogicIn3(input signal 3 for digital logic)
C00711/35 0: Not connected LA_TabPos: bGPDFlipFlop_InD(control input for DFlipFlop setting signal)
C00711/36 0: Not connected LA_TabPos: bGPDFlipFlop_InClk(control input for DFlipFlop clock signal)
C00711/37 0: Not connected LA_TabPos: bGPDFlipFlop_InClr(control input for DFlipFlop reset signal)
C00711/38 0: Not connected LA_TabPos: bGPCounter1ClkUp(control input for up-counting counter module 1)
C00711/39 0: Not connected LA_TabPos: bGPCounter1ClkDown(control input for down-counting counter module 1)
C00711/40 0: Not connected LA_TabPos: bGPCounter1Load(control input for load value acceptance in counter module 1)
C00711/41 0: Not connected LA_TabPos: bMckOperationMode_1(control input for MCK operating mode changeover valency 1)
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 779
8400 HighLine C | Software ManualParameter reference
Parameter list | C00712
C00712
C00715
C00716
C00711/42 0: Not connected LA_TabPos: bMckOperationMode_2(control input for MCK operating mode changeover valency 2)
C00711/43 0: Not connected LA_TabPos: bMckOperationMode_4(control input for MCK operating mode changeover valency 4)
C00711/44 0: Not connected LA_TabPos: bMckOperationMode_8(control input for MCK operating mode changeover valency 8)
C00711/45 0: Not connected LA_TabPos: bPosProfileNo_1(control input for selection of profile number valency 1)
C00711/46 0: Not connected LA_TabPos: bPosProfileNo_2(control input for selection of profile number valency 2)
C00711/47 0: Not connected LA_TabPos: bPosProfileNo_4(control input for selection of profile number valency 4)
C00711/48 0: Not connected LA_TabPos: bPosProfileNo_8(control input for selection of profile number valency 8)
C00711/49 0: Not connected LA_TabPos: bFreeIn1(input for binary user signal 1)
C00711/50 0: Not connected LA_TabPos: bFreeIn2(input for binary user signal 2)
C00711/51 0: Not connected LA_TabPos: bFreeIn3(input for binary user signal 3)
C00711/52 0: Not connected LA_TabPos: bFreeIn4(input for binary user signal 4)
C00711/53 0: Not connected LA_TabPos: bFreeIn5(input for binary user signal 5)
C00711/54 0: Not connected LA_TabPos: bFreeIn6(input for binary user signal 6)
C00711/55 0: Not connected LA_TabPos: bFreeIn7(input for binary user signal 7)
C00711/56 0: Not connected LA_TabPos: bFreeIn8(input for binary user signal 8)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00711 | LA_TabPos: Analog connection listData type: UNSIGNED_16
Index: 23864d = 5D38h
Parameter | Name:
C00712 | LA_TabPos: Connection list phiData type: UNSIGNED_16
Index: 23863d = 5D37h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00715 | LA_TabPos_Out: analog signal listData type: UNSIGNED_16
Index: 23860d = 5D34h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00716 | LA_TabPos_Out: Digital signal listData type: UNSIGNED_16
Index: 23859d = 5D33h
This code is for device-internal use only and must not be written to by the user!
8400 HighLine C | Software ManualParameter referenceParameter list | C00717
780 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00717
C00720
C00721
C00725
Parameter | Name:
C00717 | LA_TabPos_Out: Signal list phiData type: UNSIGNED_16
Index: 23858d = 5D32h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00720 | L_DigitalDelay_1 delayData type: UNSIGNED_32
Index: 23855d = 5D2Fh
FB L_DigitalDelay_1: ON and OFF delay time
Setting range (min. value | unit | max. value)
0.000 s 3600.000
Subcodes Lenze setting Information
C00720/1 0.000 s L_DigitalDelay_1: on delay
C00720/2 0.000 s L_DigitalDelay_1: off delay
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00721 | L_DigitalDelay 2, 3 delayData type: UNSIGNED_32
Index: 23854d = 5D2Eh
FB L_DigitalDelay_2-3: ON and OFF delay time
Setting range (min. value | unit | max. value)
0.000 s 3600.000
Subcodes Lenze setting Information
C00721/1 0.000 s L_DigitalDelay_2: on delay
C00721/2 0.000 s L_DigitalDelay_2: off delay
C00721/3 0.000 s L_DigitalDelay_3: on delay
C00721/4 0.000 s L_DigitalDelay_3: off delay
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00725 | Current switching frequencyData type: UNSIGNED_8
Index: 23850d = 5D2Ah
Display of the current switching frequency • In C00018 you can choose between a drive-optimised setting for good smooth-running characteristics and an
inverter loss-optimised setting (min. Pv). • For these options, you can, in turn, choose between fixed and variable switching frequencies. • When a variable switching frequency is selected in C00018, the switching frequency may change as a function
of the load and rotational frequency.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 781
8400 HighLine C | Software ManualParameter reference
Parameter list | C00726
C00726
C00727
Selection list (read only)
1 4 kHz var./drive-optimised
2 8 kHz var./drive-optimised
3 16 kHz var./drive-optimised
5 2 kHz constant/drive-optimised
6 4 kHz constant/drive-optimised
7 8 kHz constant/drive-optimised
8 16 kHz constant/drive-optimised
11 4 kHz var./min. Pv
12 8 kHz var./min. Pv
13 16 kHz var./min. Pv
14 Reserved
15 2 kHz constant/min. Pv
16 4 kHz constant/min. Pv
17 8 kHz constant/min. Pv
18 16 kHz constant/min. Pv
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00725 | Current switching frequencyData type: UNSIGNED_8
Index: 23850d = 5D2Ah
Parameter | Name:
C00726 | Current limit valuesData type: UNSIGNED_8
Index: 23849d = 5D29h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00727 | Keypad digital valuesData type: UNSIGNED_8
Index: 23848d = 5D28h
Executing control commands when operating via keypad
Setting range (min. value | unit | max. value)
0 1
Subcodes Lenze setting Information
C00727/1 0 "1" ≡ request quick stop
C00727/2 0 "1" ≡ request DC-injection braking
C00727/3 0 "1" ≡ request reversal
C00727/4 0 "1" ≡ request fixed speed setpoint 1 anfordern
C00727/5 0 "1" ≡ request fixed speed setpoint 2 anfordern
C00727/6 0 "1" ≡ motor potentiometer: request activation
C00727/7 0 "1" ≡ motor potentiometer: request pos. acceleration
C00727/8 0 "1" ≡ motor potentiometer: request neg. acceleration
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00728
782 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00728
C00750
C00800
C00801
C00802
C00803
Parameter | Name:
C00728 | Keypad analog valuesData type: INTEGER_16Index: 23847d = 5D27h
Selection of different setpoints when operating via keypad
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C00728/1 100.00 % Torque limit in motor mode
C00728/2 100.00 % Torque limit in generator mode
C00728/3 0.00 % Setpoint speed
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00750 | Select. of BU oscillos. channelsData type: UNSIGNED_8
Index: 23825d = 5D11h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00800 | L_MPot_1: Upper limitData type: INTEGER_16Index: 23775d = 5CDFh
FB L_MPot_1: Upper limit of the motor potentiometer function
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 100.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00801 | L_MPot_1: Lower limitData type: INTEGER_16Index: 23774d = 5CDEh
FB L_MPot_1: Lower limit of the motor potentiometer function
Setting range (min. value | unit | max. value) Lenze setting
-199.99 % 199.99 -100.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00802 | L_MPot_1: Acceleration timeData type: UNSIGNED_16
Index: 23773d = 5CDDh
FB L_MPot_1: Acceleration time of the motor potentiometer function
Setting range (min. value | unit | max. value) Lenze setting
0.1 s 6000.0 10.0 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00803 | L_MPot_1: Deceleration timeData type: UNSIGNED_16
Index: 23772d = 5CDCh
FB L_MPot_1: Deceleration time of the motor potentiometer function
Setting range (min. value | unit | max. value) Lenze setting
0.1 s 6000.0 10.0 s
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 783
8400 HighLine C | Software ManualParameter reference
Parameter list | C00804
C00804
C00805
C00806
C00807
Parameter | Name:
C00804 | L_MPot_1: Inactive functionData type: UNSIGNED_8
Index: 23771d = 5CDBh
FB L_MPot_1: Selection of the response when deactivating the motor potentiometer via the bInAct input
Selection list (Lenze setting printed in bold) Information
0 Retain value Keep output value
1 Deceleration to 0 Deceleration via ramp to 0
2 Deceleration to lower limit Deceleration via ramp to lower limit (C00801)
3 Without ramp to 0 Jump to 0
4 Without ramp to lower limit Jump to lower limit (C00800)
5 Acceleration to upper limit Acceleration via ramp to upper limit (C00800)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00805 | L_MPot_1: Init fct.Data type: UNSIGNED_8
Index: 23770d = 5CDAh
FB L_MPot_1: Selection of the response when switching on the device
Selection list (Lenze setting printed in bold)
0 Load last value
1 Load lower limit
2 Load 0
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00806 | L_MPot_1: UseData type: UNSIGNED_8
Index: 23769d = 5CD9h
FB L_MPot_1: Use of the motor potentiometer
Selection list (Lenze setting printed in bold) Information
0 No The motor potentiometer is not used. • The analog value applied to the nIn_a input is looped
through without any changes to the nOut_a output.
1 Yes The motor potentiometer is used. • The analog value applied at the nIn_a input is led via
the motor potentiometer and provided at the nOut_a output.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00807 | L_NLim_1 Max.SkipFrq.Data type: INTEGER_16Index: 23768d = 5CD8h
FB L_NLim_1: Maximum skip frequencies
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00807/1 0.00 % Maximum skip frequency for zone 1
C00807/2 0.00 % Maximum skip frequency for zone 2
C00807/3 0.00 % Maximum skip frequency for zone 3
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C00808
784 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00808
C00809
C00810
C00820
Parameter | Name:
C00808 | L_NLim_1 Min.SkipFrq.Data type: INTEGER_16Index: 23767d = 5CD7h
FB L_NLim_1: Minimum skip frequencies
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00808/1 0.00 % Minimum skip frequency for zone 1
C00808/2 0.00 % Minimum skip frequency for zone 2
C00808/3 0.00 % Minimum skip frequency for zone 2
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00809 | L_NLim_2 Max.SkipFrq.Data type: INTEGER_16Index: 23766d = 5CD6h
FB L_NLim_2: Maximum skip frequencies
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00809/1 0.00 % Maximum skip frequency for zone 1
C00809/2 0.00 % Maximum skip frequency for zone 2
C00809/3 0.00 % Maximum skip frequency for zone 3
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00810 | L_NLim_2 Min.SkipFrq.Data type: INTEGER_16Index: 23765d = 5CD5h
FB L_NLim_2: Minimum skip frequencies
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C00810/1 0.00 % Minimum skip frequency for zone 1
C00810/2 0.00 % Minimum skip frequency for zone 2
C00810/3 0.00 % Minimum skip frequency for zone 3
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00820 | L_DigitalLogic_1: Fct.Data type: UNSIGNED_8
Index: 23755d = 5CCBh
FB L_DigitalLogic_1: Selection of the internal logic interconnection
Selection list (Lenze setting printed in bold) Information
0 bOut = 0
1 bOut = 1
2 bOut = bIn1 AND bIn2 AND bIn3
3 bOut = bIn1 OR bIn2 OR bIn3
4 bOut = f (truth table) The truth table parameterised in C00821 is used.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 785
8400 HighLine C | Software ManualParameter reference
Parameter list | C00821
C00821
C00822
C00823
Parameter | Name:
C00821 | L_DigitalLogic_1: truth tableData type: UNSIGNED_8
Index: 23754d = 5CCAh
FB L_DigitalLogic_1: Parameterisation of the truth table
Selection list
0 False
1 True
Subcodes Lenze setting Information
C00821/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0
C00821/2 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0
C00821/3 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0
C00821/4 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0
C00821/5 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1
C00821/6 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1
C00821/7 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1
C00821/8 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00822 | L_DigitalLogic_2: FunctionData type: UNSIGNED_8
Index: 23753d = 5CC9h
FB L_DigitalLogic_2: Selection of the internal logic interconnection
Selection list (Lenze setting printed in bold) Information
0 bOut = 0
1 bOut = 1
2 bOut = bIn1 AND ... bIn3
3 bOut = bIn1 OR ... bIn3
4 bOut = f (truth table) The truth table parameterised in C00823 is used.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00823 | L_DigitalLogic_2: Truth tableData type: UNSIGNED_8
Index: 23752d = 5CC8h
FB L_DigitalLogic_2: Parameterisation of the truth table
Selection list
0 False
1 True
Subcodes Lenze setting Information
C00823/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0
C00823/2 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0
C00823/3 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0
C00823/4 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0
C00823/5 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1
C00823/6 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1
C00823/7 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1
C00823/8 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00824
786 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00824
C00825
Parameter | Name:
C00824 | L_DigitalLogic5_1: FunctionData type: UNSIGNED_8
Index: 23751d = 5CC7h
FB L_DigitalLogic5_1: Selection of the internal logic interconnection
Selection list (Lenze setting printed in bold) Information
0 bOut = 0
1 bOut = 1
2 bOut = f (truth table) The truth table parameterised in C00825 is used.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00825 | L_DigitalLogic5_1: Truth tableData type: UNSIGNED_8
Index: 23750d = 5CC6h
FB L_DigitalLogic5_1: Parameterisation of the truth table
Selection list
0 False
1 True
Subcodes Lenze setting Information
C00825/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=0
C00825/2 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=0
C00825/3 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=0
C00825/4 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=0
C00825/5 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=0
C00825/6 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=0
C00825/7 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=0
C00825/8 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=0
C00825/9 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=0
C00825/10 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=0
C00825/11 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=0
C00825/12 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=0
C00825/13 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=0
C00825/14 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=0
C00825/15 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=0
C00825/16 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=0
C00825/17 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=1
C00825/18 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=1
C00825/19 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=1
C00825/20 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=1
C00825/21 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=1
C00825/22 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=1
C00825/23 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=1
C00825/24 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=1
C00825/25 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=1
C00825/26 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=1
C00825/27 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=1
C00825/28 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 787
8400 HighLine C | Software ManualParameter reference
Parameter list | C00826
C00826
C00827
C00825/29 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=1
C00825/30 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=1
C00825/31 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=1
C00825/32 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00825 | L_DigitalLogic5_1: Truth tableData type: UNSIGNED_8
Index: 23750d = 5CC6h
Parameter | Name:
C00826 | L_DigitalLogic5_2: FunctionData type: UNSIGNED_8
Index: 23749d = 5CC5h
FB L_DigitalLogic5_2: Selection of the internal logic interconnection
Selection list (Lenze setting printed in bold) Information
0 bOut = 0
1 bOut = 1
2 bOut = f (truth table) The truth table parameterised in C00827 is used.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00827 | L_DigitalLogic5_2: Truth tableData type: UNSIGNED_8
Index: 23748d = 5CC4h
FB L_DigitalLogic5_2: Parameterisation of the truth table
Selection list
0 False
1 True
Subcodes Lenze setting Information
C00827/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=0
C00827/2 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=0
C00827/3 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=0
C00827/4 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=0
C00827/5 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=0
C00827/6 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=0
C00827/7 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=0
C00827/8 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=0
C00827/9 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=0
C00827/10 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=0
C00827/11 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=0
C00827/12 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=0
C00827/13 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=0
C00827/14 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=0
C00827/15 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=0
C00827/16 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=0
C00827/17 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=1
C00827/18 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=1
C00827/19 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=1
C00827/20 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=0 / bIn5=1
C00827/21 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=1
C00827/22 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=0 / bIn5=1
8400 HighLine C | Software ManualParameter referenceParameter list | C00830
788 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00830
C00827/23 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=1
C00827/24 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=0 / bIn5=1
C00827/25 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=1
C00827/26 0: False bOut for bIn1=1 / bIn2=0 / bIn3=0 / bIn4=1 / bIn5=1
C00827/27 0: False bOut for bIn1=0 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=1
C00827/28 0: False bOut for bIn1=1 / bIn2=1 / bIn3=0 / bIn4=1 / bIn5=1
C00827/29 0: False bOut for bIn1=0 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=1
C00827/30 0: False bOut for bIn1=1 / bIn2=0 / bIn3=1 / bIn4=1 / bIn5=1
C00827/31 0: False bOut for bIn1=0 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=1
C00827/32 0: False bOut for bIn1=1 / bIn2=1 / bIn3=1 / bIn4=1 / bIn5=1
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00827 | L_DigitalLogic5_2: Truth tableData type: UNSIGNED_8
Index: 23748d = 5CC4h
Parameter | Name:
C00830 | 16bit input analogData type: INTEGER_16Index: 23745d = 5CC1h
Display in percent of 16-bit input values of different blocks
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00830/1 L_Absolut_1: nIn_a
C00830/2 L_AddSub_1: nIn1_a
C00830/3 L_AddSub_1: nIn2_a
C00830/4 L_AddSub_1: nIn3_a
C00830/5 L_OffsetGain_1: nIn_a
C00830/6 L_OffsetGain_1: nOffset_a
C00830/7 L_OffsetGain_1: nGain_a
C00830/8 L_Negation_1: nIn_a
C00830/9 L_GainOffset_1: nIn_a
C00830/10 L_GainOffset_1: nGain_a
C00830/11 L_GainOffset_1: nOffset_a
C00830/12 L_Arithmetik_1: nIn1_a
C00830/13 L_Arithmetik_1: nIn2_a
C00830/14 L_AnalogSwitch_1: nIn1_a
C00830/15 L_AnalogSwitch_1: nIn2_a
C00830/16 L_Compare_1: nIn1_a
C00830/17 L_Compare_1: nIn2_a
C00830/18 Reserved
C00830/19 Reserved
C00830/20 MCTRL: nPosCtrlPAdapt_a
C00830/21 MCTRL: nPosCtrlOutLimit_a
C00830/22 MCTRL: nSpeedSetValue_a
C00830/23 MCTRL: nSpeedLowLimit_a
C00830/24 MCTRL: nSpeedCtrlI_a
C00830/25 MCTRL: nSpeedCtrlPAdapt_a
C00830/26 Reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 789
8400 HighLine C | Software ManualParameter reference
Parameter list | C00830
C00830/27 MCTRL: nTorqueSetValue_a
C00830/28 MCTRL: nTorqueGenLimit_a
C00830/29 MCTRL: nTorqueMotLimit_a
C00830/30 Reserved
C00830/31 MCTRL: nVoltageAdd_a
C00830/32 MCTRL: nPWMAngleOffset_a
C00830/33 L_NSet_1: nCInhVal_a
C00830/34 L_NSet_1: nNSet_a
C00830/35 L_NSet_1: nSet_a
C00830/36 L_NSet_1: nNAdd_a
C00830/37 DCTRL: wCANControl
C00830/38 DCTRL: wCCMControl
C00830/39 L_NLim_1: nIn_a
C00830/40 Reserved
C00830/41 L_Compare_2: nIn1_a
C00830/42 L_Compare_2: nIn2_a
C00830/43 L_Compare_3: nIn1_a
C00830/44 L_Compare_3: nIn2_a
C00830/45 L_AnalogSwitch_2: nIn1_a
C00830/46 L_AnalogSwitch_2: nIn2_a
C00830/47 L_AnalogSwitch_3: nIn1_a
C00830/48 L_AnalogSwitch_3: nIn2_a
C00830/49 L_Arithmetik_2: nIn1_a
C00830/50 L_Arithmetik_2: nIn2_a
C00830/51 Reserved
C00830/52 Reserved
C00830/53 L_GainOffset_2: nIn_a
C00830/54 L_GainOffset_2: nGain_a
C00830/55 L_GainOffset_2: nOffset_a
C00830/56 L_OffsetGainP_1: nIn_a
C00830/57 L_OffsetGainP_2: nIn_a
C00830/58 L_OffsetGain_2: nIn_a
C00830/59 L_OffsetGain_2: nOffset_a
C00830/60 L_OffsetGain_2: nGain_a
C00830/61 L_PCTRL_1: nAct_a
C00830/62 L_PCTRL_1: nAdapt_a
C00830/63 L_PCTRL_1: nSet_a
C00830/64 L_PCTRL_1: nInflu_a
C00830/65 MCK: nSpeedCtrlI_a
C00830/66 MCK: nPWMAngleOffset_a
C00830/67 Reserved
C00830/68 MCK: nBrkTorqueAdd_a
C00830/69 MCK: nTorqueSetValue_a
C00830/70 Reserved
Parameter | Name:
C00830 | 16bit input analogData type: INTEGER_16Index: 23745d = 5CC1h
8400 HighLine C | Software ManualParameter referenceParameter list | C00831
790 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00831
C00830/71 Reserved
C00830/72 MCK: nSpeedSetValue_a
C00830/73 MCK: wAuxCtrl1
C00830/74 MCK: wMotionCtrl
C00830/75 MCK: nSpeedOverride_a
C00830/76 MCK: nAccOverride_a
C00830/77 MCK: nSpeedAdd_v
C00830/78 MCK: wAuxCtrl2
C00830/79 Reserved
C00830/80 L_OffsetGainP_3: nIn_a
C00830/81 L_MPot_1: nIn_a
C00830/82 L_MulDiv_1: nIn_a
C00830/83 LS_DataAccess: wIn1
C00830/84 LS_DataAccess: wIn2
C00830/85 LS_DataAccess: wIn3
C00830/86 LS_DataAccess: wIn4
C00830/87 L_PT1_1: nIn_a
C00830/88 MCTRL: nSpeedHighLimit_a
C00830/89 L_PCTRL_1: nNSet_a
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00830 | 16bit input analogData type: INTEGER_16Index: 23745d = 5CC1h
Parameter | Name:
C00831 | 16bit input commonData type: UNSIGNED_16
Index: 23744d = 5CC0h
Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00831/1 L_Absolut_1: nIn_a
C00831/2 L_AddSub_1: nIn1_a
C00831/3 L_AddSub_1: nIn2_a
C00831/4 L_AddSub_1: nIn3_a
C00831/5 L_OffsetGain_1: nIn_a
C00831/6 L_OffsetGain_1: nOffset_a
C00831/7 L_OffsetGain_1: nGain_a
C00831/8 L_Negation_1: nIn_a
C00831/9 L_GainOffset_1: nIn_a
C00831/10 L_GainOffset_1: nGain_a
C00831/11 L_GainOffset_1: nOffset_a
C00831/12 L_Arithmetik_1: nIn1_a
C00831/13 L_Arithmetik_1: nIn2_a
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 791
8400 HighLine C | Software ManualParameter reference
Parameter list | C00831
C00831/14 L_AnalogSwitch_1: nIn1_a
C00831/15 L_AnalogSwitch_1: nIn2_a
C00831/16 L_Compare_1: nIn1_a
C00831/17 L_Compare_1: nIn2_a
C00831/18 Reserved
C00831/19 Reserved
C00831/20 MCTRL: nPosCtrlPAdapt_a
C00831/21 MCTRL: nPosCtrlOutLimit_a
C00831/22 MCTRL: nSpeedSetValue_a
C00831/23 MCTRL: nSpeedLowLimit_a
C00831/24 MCTRL: nSpeedCtrlI_a
C00831/25 MCTRL: nSpeedCtrlPAdapt_a
C00831/26 Reserved
C00831/27 MCTRL: nTorqueSetValue_a
C00831/28 MCTRL: nTorqueGenLimit_a
C00831/29 MCTRL: nTorqueMotLimit_a
C00831/30 Reserved
C00831/31 MCTRL: nVoltageAdd_a
C00831/32 MCTRL: nPWMAngleOffset_a
C00831/33 L_NSet_1: nCInhVal_a
C00831/34 L_NSet_1: nNSet_a
C00831/35 L_NSet_1: nSet_a
C00831/36 L_NSet_1: nNAdd_a
C00831/37 DCTRL: wCANControl
C00831/38 DCTRL: wCCMControl
C00831/39 L_NLim_1: nIn_a
C00831/40 Reserved
C00831/41 L_Compare_2: nIn1_a
C00831/42 L_Compare_2: nIn2_a
C00831/43 L_Compare_3: nIn1_a
C00831/44 L_Compare_3: nIn2_a
C00831/45 L_AnalogSwitch_2: nIn1_a
C00831/46 L_AnalogSwitch_2: nIn2_a
C00831/47 L_AnalogSwitch_3: nIn1_a
C00831/48 L_AnalogSwitch_3: nIn2_a
C00831/49 L_Arithmetik_2: nIn1_a
C00831/50 L_Arithmetik_2: nIn2_a
C00831/51 Reserved
C00831/52 Reserved
C00831/53 L_GainOffset_2: nIn_a
C00831/54 L_GainOffset_2: nGain_a
C00831/55 L_GainOffset_2: nOffset_a
C00831/56 L_OffsetGainP_1: nIn_a
C00831/57 L_OffsetGainP_2: nIn_a
Parameter | Name:
C00831 | 16bit input commonData type: UNSIGNED_16
Index: 23744d = 5CC0h
8400 HighLine C | Software ManualParameter referenceParameter list | C00832
792 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00832
C00831/58 L_OffsetGain_2: nIn_a
C00831/59 L_OffsetGain_2: nOffset_a
C00831/60 L_OffsetGain_2: nGain_a
C00831/61 L_PCTRL_1: nAct_a
C00831/62 L_PCTRL_1: nAdapt_a
C00831/63 L_PCTRL_1: nSet_a
C00831/64 L_PCTRL_1: nInflu_a
C00831/65 MCK: nSpeedCtrlI_a
C00831/66 MCK: nPWMAngleOffset_a
C00831/67 Reserved
C00831/68 MCK: nBrkTorqueAdd_a
C00831/69 MCK: nTorqueSetValue_a
C00831/70 Reserved
C00831/71 Reserved
C00831/72 MCK: nSpeedSetValue_a
C00831/73 MCK: wAuxCtrl1
C00831/74 MCK: wMotionCtrl
C00831/75 MCK: nSpeedOverride_a
C00831/76 MCK: nAccOverride_a
C00831/77 MCK: nSpeedAdd_v
C00831/78 MCK: wAuxCtrl2
C00831/79 Reserved
C00831/80 L_OffsetGainP_3: nIn_a
C00831/81 L_MPot_1: nIn_a
C00831/82 L_MulDiv_1: nIn_a
C00831/83 LS_DataAccess: wIn1
C00831/84 LS_DataAccess: wIn2
C00831/85 LS_DataAccess: wIn3
C00831/86 LS_DataAccess: wIn4
C00831/87 L_PT1_1: nIn_a
C00831/88 MCTRL: nSpeedHighLimit_a
C00831/89 L_PCTRL_1: nNSet_a
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00831 | 16bit input commonData type: UNSIGNED_16
Index: 23744d = 5CC0h
Parameter | Name:
C00832 | 16bit input velocityData type: INTEGER_16Index: 23743d = 5CBFh
Display of 16-bit input values of different blocks in [rpm]
Display range (min. value | unit | max. value)
-32767 rpm 32767
Subcodes Information
C00832/1 L_Absolut_1: nIn_a
C00832/2 L_AddSub_1: nIn1_a
C00832/3 L_AddSub_1: nIn2_a
C00832/4 L_AddSub_1: nIn3_a
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 793
8400 HighLine C | Software ManualParameter reference
Parameter list | C00832
C00832/5 L_OffsetGain_1: nIn_a
C00832/6 L_OffsetGain_1: nOffset_a
C00832/7 L_OffsetGain_1: nGain_a
C00832/8 L_Negation_1: nIn_a
C00832/9 L_GainOffset_1: nIn_a
C00832/10 L_GainOffset_1: nGain_a
C00832/11 L_GainOffset_1: nOffset_a
C00832/12 L_Arithmetik_1: nIn1_a
C00832/13 L_Arithmetik_1: nIn2_a
C00832/14 L_AnalogSwitch_1: nIn1_a
C00832/15 L_AnalogSwitch_1: nIn2_a
C00832/16 L_Compare_1: nIn1_a
C00832/17 L_Compare_1: nIn2_a
C00832/18 Reserved
C00832/19 Reserved
C00832/20 MCTRL: nPosCtrlPAdapt_a
C00832/21 MCTRL: nPosCtrlOutLimit_a
C00832/22 MCTRL: nSpeedSetValue_a
C00832/23 MCTRL: nSpeedLowLimit_a
C00832/24 MCTRL: nSpeedCtrlI_a
C00832/25 MCTRL: nSpeedCtrlPAdapt_a
C00832/26 Reserved
C00832/27 MCTRL: nTorqueSetValue_a
C00832/28 MCTRL: nTorqueGenLimit_a
C00832/29 MCTRL: nTorqueMotLimit_a
C00832/30 Reserved
C00832/31 MCTRL: nVoltageAdd_a
C00832/32 MCTRL: nPWMAngleOffset_a
C00832/33 L_NSet_1: nCInhVal_a
C00832/34 L_NSet_1: nNSet_a
C00832/35 L_NSet_1: nSet_a
C00832/36 L_NSet_1: nNAdd_a
C00832/37 DCTRL: wCANControl
C00832/38 DCTRL: wCCMControl
C00832/39 L_NLim_1: nIn_a
C00832/40 Reserved
C00832/41 L_Compare_2: nIn1_a
C00832/42 L_Compare_2: nIn2_a
C00832/43 L_Compare_3: nIn1_a
C00832/44 L_Compare_3: nIn2_a
C00832/45 L_AnalogSwitch_2: nIn1_a
C00832/46 L_AnalogSwitch_2: nIn2_a
C00832/47 L_AnalogSwitch_3: nIn1_a
C00832/48 L_AnalogSwitch_3: nIn2_a
Parameter | Name:
C00832 | 16bit input velocityData type: INTEGER_16Index: 23743d = 5CBFh
8400 HighLine C | Software ManualParameter referenceParameter list | C00832
794 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00832/49 L_Arithmetik_2: nIn1_a
C00832/50 L_Arithmetik_2: nIn2_a
C00832/51 Reserved
C00832/52 Reserved
C00832/53 L_GainOffset_2: nIn_a
C00832/54 L_GainOffset_2: nGain_a
C00832/55 L_GainOffset_2: nOffset_a
C00832/56 L_OffsetGainP_1: nIn_a
C00832/57 L_OffsetGainP_2: nIn_a
C00832/58 L_OffsetGain_2: nIn_a
C00832/59 L_OffsetGain_2: nOffset_a
C00832/60 L_OffsetGain_2: nGain_a
C00832/61 L_PCTRL_1: nAct_a
C00832/62 L_PCTRL_1: nAdapt_a
C00832/63 L_PCTRL_1: nSet_a
C00832/64 L_PCTRL_1: nInflu_a
C00832/65 MCK: nSpeedCtrlI_a
C00832/66 MCK: nPWMAngleOffset_a
C00832/67 Reserved
C00832/68 MCK: nBrkTorqueAdd_a
C00832/69 MCK: nTorqueSetValue_a
C00832/70 Reserved
C00832/71 Reserved
C00832/72 MCK: nSpeedSetValue_a
C00832/73 MCK: wAuxCtrl1
C00832/74 MCK: wMotionCtrl
C00832/75 MCK: nSpeedOverride_a
C00832/76 MCK: nAccOverride_a
C00832/77 MCK: nSpeedAdd_v
C00832/78 MCK: wAuxCtrl2
C00832/79 Reserved
C00832/80 L_OffsetGainP_3: nIn_a
C00832/81 L_MPot_1: nIn_a
C00832/82 L_MulDiv_1: nIn_a
C00832/83 LS_DataAccess: wIn1
C00832/84 LS_DataAccess: wIn2
C00832/85 LS_DataAccess: wIn3
C00832/86 LS_DataAccess: wIn4
C00832/87 L_PT1_1: nIn_a
C00832/88 MCTRL: nSpeedHighLimit_a
C00832/89 L_PCTRL_1: nNSet_a
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00832 | 16bit input velocityData type: INTEGER_16Index: 23743d = 5CBFh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 795
8400 HighLine C | Software ManualParameter reference
Parameter list | C00833
C00833Parameter | Name:
C00833 | 8bit inputData type: UNSIGNED_8
Index: 23742d = 5CBEh
Display of the signal status of the binary inputs of different blocks
Selection list
0 False
1 True
Subcodes Information
C00833/1 L_And_1: bIn1
C00833/2 L_And_1: bIn2
C00833/3 L_And_1: bIn3
C00833/4 L_DFlipFlop_1: bD(set input)
C00833/5 L_DFlipFlop_1: bClk(clock input)
C00833/6 L_DFlipFlop_1: bClr(reset input)
C00833/7 L_Not_1: bIn
C00833/8 L_Or_1: bIn1
C00833/9 L_Or_1: bIn2
C00833/10 L_Or_1: bIn3
C00833/11 L_RLQ_1: bCw(CW rotation)
C00833/12 L_RLQ_1: bCcw(CCW rotation)
C00833/13 L_AnalogSwitch_1: bSet(switch over analog values)
C00833/14 L_NSet_1: bRfgStop(stop ramp function generator)
C00833/15 L_NSet_1: bRfg0(reset ramp function generator)
C00833/16 L_NSet_1: bNSetInv(invert speed setpoint)
C00833/17 L_NSet_1: bJog1(selection input for fixed setpoints)
C00833/18 L_NSet_1: bJog2(selection input for fixed setpoints)
C00833/19 L_NSet_1: bJog4(selection input for fixed setpoints)
C00833/20 L_NSet_1: bJog8(selection input for fixed setpoints)
C00833/21 L_NSet_1: bTi1(selection input for additional acceleration/deceleration times)
C00833/22 L_NSet_1: bTi2(selection input for additional acceleration/deceleration times)
C00833/23 L_NSet_1: bTi4(selection input for additional acceleration/deceleration times)
C00833/24 L_NSet_1: bTi8(selection input for additional acceleration/deceleration times)
8400 HighLine C | Software ManualParameter referenceParameter list | C00833
796 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00833/25 L_NSet_1: bLoad(load ramp function generator)
C00833/26 L_NSet_1: bExternalCINH(set controller inhibit externally)
C00833/27 MCTRL: bPosCtrlOn(activate position controller)
C00833/28 MCTRL: bSpeedInterpolatorOn(activate speed interpolator)
C00833/29 MCTRL: bTorqueInterpolatorOn(activate torque interpolator)
C00833/30 MCTRL: bTorquemodeOn(activate torque setpoint)
C00833/31 MCTRL: bSpeedCtrlIOn(load speed controller I component)
C00833/32 MCTRL: bAutoBoostOn(activate automatic voltage boost)
C00833/33 MCTRL: bQSPOn(quick stop)
C00833/34 MCTRL: bDcBrakeOn(DC-injection braking)
C00833/35 MCTRL: bDeltaPosOn(activate evaluation of external following error)
C00833/36 DCTRL: bCINH(inhibit controller)
C00833/37 DCTRL: bFailReset(acknowledge error)
C00833/38 DCTRL: bStatus_B0
C00833/39 DCTRL: bStatus_B2
C00833/40 DCTRL: bStatus_B3
C00833/41 DCTRL: bStatus_B4
C00833/42 DCTRL: bStatus_B5
C00833/43 DCTRL: bStatus_B14
C00833/44 DCTRL: bStatus_B15
C00833/45 DCTRL: bFrei_1
C00833/46 DCTRL: bFrei_2
C00833/47 DCTRL: bFrei_3
C00833/48 DCTRL: bFrei_4
C00833/49 L_And_2: bIn1
C00833/50 L_And_2: bIn2
C00833/51 L_And_2: bIn3
C00833/52 L_And_3: bIn1
C00833/53 L_And_3: bIn2
C00833/54 L_And_3: bIn3
C00833/55 L_Or_2: bIn1
C00833/56 L_Or_2: bIn2
C00833/57 L_Or_2: bIn3
C00833/58 L_Or_3: bIn1
Parameter | Name:
C00833 | 8bit inputData type: UNSIGNED_8
Index: 23742d = 5CBEh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 797
8400 HighLine C | Software ManualParameter reference
Parameter list | C00833
C00833/59 L_Or_3: bIn2
C00833/60 L_Or_3: bIn3
C00833/61 L_Not_2: bIn
C00833/62 L_Not_3: bIn
C00833/63 L_DigitalLogic_1: bIn1
C00833/64 L_DigitalLogic_1: bIn2
C00833/65 L_DigitalLogic_1: bIn3
C00833/66 L_DigitalDelay_1: bIn
C00833/67 MCTRL: bPosDerivativeOn(activate differentiation of position)
C00833/68 MCTRL: bMotorRefOffsetOn(accept motor reference position)
C00833/69 Reserved
C00833/70 L_AnalogSwitch_2: bSet(switch over analog values)
C00833/71 L_AnalogSwitch_3: bSet(switch over analog values)
C00833/72 L_MPot_1: bUp(ramp up)
C00833/73 L_MPot_1: bInAct(start inactivation function)
C00833/74 L_MPot_1: bDown(ramp down)
C00833/75 Reserved
C00833/76 L_PCTRL_1: bInAct(deactivate controller)
C00833/77 L_PCTRL_1: bIOff(switch off I component of controller)
C00833/78 MCK: bSpeedCtrlIOn(load I component of speed controller)
C00833/79 MCK: bDcBrakeOn(activate DC-injection braking)
C00833/80 MCK: bBrkRelease(release holding brake)
C00833/81 MCK: bBrkStartTorqueDir(change of direction torque precontrol)
C00833/82 MCK: bBrkApplied(feedback signal - binary holding brake status)
C00833/83 MCK: bLimitSwitchPos(input for positive hardware limit switch)
C00833/84 MCK: bLimitSwitchNeg(input for negative hardware limit switch)
C00833/85 MCK: bPosCtrlOn(activate position controller)
C00833/86 MCK: bDeltaPosOn(activate evaluation of external following error)
C00833/87 MCK: bPosDerivativeOn(activate differentiation of position)
Parameter | Name:
C00833 | 8bit inputData type: UNSIGNED_8
Index: 23742d = 5CBEh
8400 HighLine C | Software ManualParameter referenceParameter list | C00833
798 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00833/88 MCK: bMotorRefOffsetOn(accept motor reference position)
C00833/89 MCK: bQspOn(quick stop)
C00833/90 MCK: bTorquemodeOn(activate torque control)
C00833/91 Reserved
C00833/92 MCK: bHomMark(pre-stop signal - homing)
C00833/93 Reserved
C00833/94 Reserved
C00833/95 Reserved
C00833/96 Reserved
C00833/97 Reserved
C00833/98 Reserved
C00833/99 L_NSet_1: bNAddInv(invert additional speed setpoint)
C00833/100 L_MPot_1: bEnable(activate FB)
C00833/101 L_NLim_1: bEnable(activate FB)
C00833/102 LS_DataAccess: bEnableIn1(Lenze internally)
C00833/103 LS_DataAccess: bEnableIn2(Lenze internally)
C00833/104 LS_DataAccess: bEnableIn3(Lenze internally)
C00833/105 LS_DataAccess: bEnableIn4(Lenze internally)
C00833/106 L_PCTRL_1: bEnableInfluenceRamp(activate influence ramp on correcting variable)
C00833/107 LS_SetError_2: bSetError1(trigger application error 1)
C00833/108 LS_SetError_2: bSetError2(trigger application error 2)
C00833/109 LS_SetError_2: bSetError3(trigger application error 3)
C00833/110 LS_SetError_2: bSetError4(trigger application error 4)
C00833/111 L_JogCtrlExtension: bInputSel1(binary selection of the function)
C00833/112 L_JogCtrlExtension: bInputSel2(binary selection of the function)
C00833/113 L_JogCtrlExtension: bRfgIn(set ramp function generator)
C00833/114 L_JogCtrlExtension: bJog1In(activate fixed speed 1)
C00833/115 L_JogCtrlExtension: bJog2In(activate fixed speed 2)
Parameter | Name:
C00833 | 8bit inputData type: UNSIGNED_8
Index: 23742d = 5CBEh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 799
8400 HighLine C | Software ManualParameter reference
Parameter list | C00834
C00834
C00835
C00833/116 L_JogCtrlExtension: bSlowDown1(ramp down speed)
C00833/117 L_JogCtrlExtension: bStop1(stop speed)
C00833/118 L_JogCtrlExtension: bbSlowDown2(ramp down speed)
C00833/119 L_JogCtrlExtension: bStop2(stop speed)
C00833/120 L_JogCtrlExtension: bSlowDown3(ramp down speed)
C00833/121 L_JogCtrlExtension: bStop3(stop speed)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00833 | 8bit inputData type: UNSIGNED_8
Index: 23742d = 5CBEh
Parameter | Name:
C00834 | 32bit input analogData type: INTEGER_32Index: 23741d = 5CBDh
Display of 32-bit input values of different blocks in [increments]
Display range (min. value | unit | max. value)
-2147483647 incr 2147483647
Subcodes Information
C00834/1 MCK: dnPosSetValue_p
C00834/2 MCK: dnMotorRefOffset_p
C00834/3 MCK: dnDeltaPos_p
C00834/4 MCTRL: dnDeltaPos_p
C00834/5 MCTRL: dnPosSetValue_p
C00834/6 MCTRL: dnMotorRefOffset_p
C00834/7 MCK: dnProfilePosition_p
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00835 | 16bit input analog AdditionalFBsHLData type: INTEGER_16Index: 23740d = 5CBCh
Display in percent of 16-bit input values of different blocks
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00835/1 L_Absolut_2: nIn_a
C00835/2 L_AnalogSwitch_4: nIn1_a
C00835/3 L_AnalogSwitch_4: nIn2_a
C00835/4 L_AnalogSwitch_5: nIn1_a
C00835/5 L_AnalogSwitch_5: nIn2_a
C00835/6 L_Compare_4: nIn1_a
C00835/7 L_Compare_4: nIn2_a
C00835/8 L_Compare_5: nIn1_a
C00835/9 L_Compare_5: nIn2_a
C00835/10 L_Arithmetik_3: nIn1_a
C00835/11 L_Arithmetik_3: nIn2_a
8400 HighLine C | Software ManualParameter referenceParameter list | C00835
800 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00835/12 L_Arithmetik_4: nIn1_a
C00835/13 L_Arithmetik_4: nIn2_a
C00835/14 L_Arithmetik_5: nIn1_a
C00835/15 L_Arithmetik_5: nIn2_a
C00835/16 L_Counter_2: wLdVal
C00835/17 L_Counter_2: wCmpVal
C00835/18 L_Counter_3: wLdVal
C00835/19 L_Counter_3: wCmpVal
C00835/20 L_PhaseIntK_1: nIn_v
C00835/21 L_Negation_2: nIn_a
C00835/22 L_NLim_2: nIn_a
C00835/23 L_OffsetGain_3: nIn_a
C00835/24 L_OffsetGain_3: nOffset_a
C00835/25 L_OffsetGain_3: nGain_a
C00835/26 L_PT1_2: nIn_a
C00835/27 L_PT1_3: nIn_a
C00835/28 L_PhaseIntK_2: nIn_v
C00835/29 L_SampleHold_1: nIn_a
C00835/30 L_SampleHold_2: nIn_a
C00835/31 L_Mux_1: nSelect_a
C00835/32 L_GainOffset_3: nIn_a
C00835/33 L_GainOffset_3: nGain_a
C00835/34 L_GainOffset_3: nOffset_a
C00835/35 L_MulDiv_2: nIn_a
C00835/36 L_DT1_1: nIn_a
C00835/37 L_Counter_1: wLdVal
C00835/38 L_Counter_1: wCmpVal
C00835/39 L_GainOffsetPar_1: nIn_a
C00835/40 L_GainOffsetPar_2: nIn_a
C00835/41 L_GainOffsetPar_3: nIn_a
C00835/42 L_Limit_1: nIn_a
C00835/43 L_Limit_2: nIn_a
C00835/44 L_MckCtrlInterface_1: wOperationMode
C00835/45 L_MckCtrlInterface_1: wPosMode
C00835/46 L_MckCtrlInterface_1: wProfileNo
C00835/47 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00835/48 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00835/49 L_MckStateInterface_1: wInMckPosState_1
C00835/50 L_MckStateInterface_1: wInMckPosState_2
C00835/51 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_1
C00835/52 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_2
C00835/53 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_3
C00835/54 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_4
C00835/55 L_ConvWordToBits_1: wInput
Parameter | Name:
C00835 | 16bit input analog AdditionalFBsHLData type: INTEGER_16Index: 23740d = 5CBCh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 801
8400 HighLine C | Software ManualParameter reference
Parameter list | C00836
C00836
C00835/56 L_ConvWordToBits_2: wInput
C00835/57 L_ConvWordToBits_3: wInput
C00835/58 L_ConvWordsToDInt_1: wInLWord
C00835/59 L_ConvWordsToDInt_1: wInHWord
C00835/60 L_ConvWordsToDInt_2: wInLWord
C00835/61 L_ConvWordsToDInt_2: wInHWord
C00835/62 L_ConvWordsToDInt_3: wInLWord
C00835/63 L_ConvWordsToDInt_3: wInHWord
C00835/64 L_ConvUnitsToIncr_1: wInLWord
C00835/65 L_ConvUnitsToIncr_1: wInHWord
C00835/66 L_ConvUnitsToIncr_2: wInLWord
C00835/67 L_ConvUnitsToIncr_2: wInHWord
C00835/68 L_ConvUnitsToIncr_3: wInLWord
C00835/69 L_ConvUnitsToIncr_3: wInHWord
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00835 | 16bit input analog AdditionalFBsHLData type: INTEGER_16Index: 23740d = 5CBCh
Parameter | Name:
C00836 | 16bit input common AdditionalFBsHLData type: UNSIGNED_16
Index: 23739d = 5CBBh
Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00836/1 L_Absolut_2: nIn_a
C00836/2 L_AnalogSwitch_4: nIn1_a
C00836/3 L_AnalogSwitch_4: nIn2_a
C00836/4 L_AnalogSwitch_5: nIn1_a
C00836/5 L_AnalogSwitch_5: nIn2_a
C00836/6 L_Compare_4: nIn1_a
C00836/7 L_Compare_4: nIn2_a
C00836/8 L_Compare_5: nIn1_a
C00836/9 L_Compare_5: nIn2_a
C00836/10 L_Arithmetik_3: nIn1_a
C00836/11 L_Arithmetik_3: nIn2_a
C00836/12 L_Arithmetik_4: nIn1_a
C00836/13 L_Arithmetik_4: nIn2_a
C00836/14 L_Arithmetik_5: nIn1_a
C00836/15 L_Arithmetik_5: nIn2_a
C00836/16 L_Counter_2: wLdVal
C00836/17 L_Counter_2: wCmpVal
C00836/18 L_Counter_3: wLdVal
8400 HighLine C | Software ManualParameter referenceParameter list | C00836
802 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00836/19 L_Counter_3: wCmpVal
C00836/20 L_PhaseIntK_1: nIn_v
C00836/21 L_Negation_2: nIn_a
C00836/22 L_NLim_2: nIn_a
C00836/23 L_OffsetGain_3: nIn_a
C00836/24 L_OffsetGain_3: nOffset_a
C00836/25 L_OffsetGain_3: nGain_a
C00836/26 L_PT1_2: nIn_a
C00836/27 L_PT1_3: nIn_a
C00836/28 L_PhaseIntK_2: nIn_v
C00836/29 L_SampleHold_1: nIn_a
C00836/30 L_SampleHold_2: nIn_a
C00836/31 L_Mux_1: nSelect_a
C00836/32 L_GainOffset_3: nIn_a
C00836/33 L_GainOffset_3: nGain_a
C00836/34 L_GainOffset_3: nOffset_a
C00836/35 L_MulDiv_2: nIn_a
C00836/36 L_DT1_1: nIn_a
C00836/37 L_Counter_1: wLdVal
C00836/38 L_Counter_1: wCmpVal
C00836/39 L_GainOffsetPar_1: nIn_a
C00836/40 L_GainOffsetPar_2: nIn_a
C00836/41 L_GainOffsetPar_3: nIn_a
C00836/42 L_Limit_1: nIn_a
C00836/43 L_Limit_2: nIn_a
C00836/44 L_MckCtrlInterface_1: wOperationMode
C00836/45 L_MckCtrlInterface_1: wPosMode
C00836/46 L_MckCtrlInterface_1: wProfileNo
C00836/47 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00836/48 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00836/49 L_MckStateInterface_1: wInMckPosState_1
C00836/50 L_MckStateInterface_1: wInMckPosState_2
C00836/51 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_1
C00836/52 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_2
C00836/53 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_3
C00836/54 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_4
C00836/55 L_ConvWordToBits_1: wInput
C00836/56 L_ConvWordToBits_2: wInput
C00836/57 L_ConvWordToBits_3: wInput
C00836/58 L_ConvWordsToDInt_1: wInLWord
C00836/59 L_ConvWordsToDInt_1: wInHWord
C00836/60 L_ConvWordsToDInt_2: wInLWord
C00836/61 L_ConvWordsToDInt_2: wInHWord
C00836/62 L_ConvWordsToDInt_3: wInLWord
Parameter | Name:
C00836 | 16bit input common AdditionalFBsHLData type: UNSIGNED_16
Index: 23739d = 5CBBh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 803
8400 HighLine C | Software ManualParameter reference
Parameter list | C00837
C00837
C00836/63 L_ConvWordsToDInt_3: wInHWord
C00836/64 L_ConvUnitsToIncr_1: wInLWord
C00836/65 L_ConvUnitsToIncr_1: wInHWord
C00836/66 L_ConvUnitsToIncr_2: wInLWord
C00836/67 L_ConvUnitsToIncr_2: wInHWord
C00836/68 L_ConvUnitsToIncr_3: wInLWord
C00836/69 L_ConvUnitsToIncr_3: wInHWord
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00836 | 16bit input common AdditionalFBsHLData type: UNSIGNED_16
Index: 23739d = 5CBBh
Parameter | Name:
C00837 | 16bit input velocity AdditionalFBsHLData type: INTEGER_16Index: 23738d = 5CBAh
Display of 16-bit input values of different blocks in [rpm]
Display range (min. value | unit | max. value)
-32767 rpm 32767
Subcodes Information
C00837/1 L_Absolut_2: nIn_a
C00837/2 L_AnalogSwitch_4: nIn1_a
C00837/3 L_AnalogSwitch_4: nIn2_a
C00837/4 L_AnalogSwitch_5: nIn1_a
C00837/5 L_AnalogSwitch_5: nIn2_a
C00837/6 L_Compare_4: nIn1_a
C00837/7 L_Compare_4: nIn2_a
C00837/8 L_Compare_5: nIn1_a
C00837/9 L_Compare_5: nIn2_a
C00837/10 L_Arithmetik_3: nIn1_a
C00837/11 L_Arithmetik_3: nIn2_a
C00837/12 L_Arithmetik_4: nIn1_a
C00837/13 L_Arithmetik_4: nIn2_a
C00837/14 L_Arithmetik_5: nIn1_a
C00837/15 L_Arithmetik_5: nIn2_a
C00837/16 L_Counter_2: wLdVal
C00837/17 L_Counter_2: wCmpVal
C00837/18 L_Counter_3: wLdVal
C00837/19 L_Counter_3: wCmpVal
C00837/20 L_PhaseIntK_1: nIn_v
C00837/21 L_Negation_2: nIn_a
C00837/22 L_NLim_2: nIn_a
C00837/23 L_OffsetGain_3: nIn_a
C00837/24 L_OffsetGain_3: nOffset_a
C00837/25 L_OffsetGain_3: nGain_a
C00837/26 L_PT1_2: nIn_a
C00837/27 L_PT1_3: nIn_a
C00837/28 L_PhaseIntK_2: nIn_v
C00837/29 L_SampleHold_1: nIn_a
8400 HighLine C | Software ManualParameter referenceParameter list | C00837
804 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00837/30 L_SampleHold_2: nIn_a
C00837/31 L_Mux_1: nSelect_a
C00837/32 L_GainOffset_3: nIn_a
C00837/33 L_GainOffset_3: nGain_a
C00837/34 L_GainOffset_3: nOffset_a
C00837/35 L_MulDiv_2: nIn_a
C00837/36 L_DT1_1: nIn_a
C00837/37 L_Counter_1: wLdVal
C00837/38 L_Counter_1: wCmpVal
C00837/39 L_GainOffsetPar_1: nIn_a
C00837/40 L_GainOffsetPar_2: nIn_a
C00837/41 L_GainOffsetPar_3: nIn_a
C00837/42 L_Limit_1: nIn_a
C00837/43 L_Limit_2: nIn_a
C00837/44 L_MckCtrlInterface_1: wOperationMode
C00837/45 L_MckCtrlInterface_1: wPosMode
C00837/46 L_MckCtrlInterface_1: wProfileNo
C00837/47 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00837/48 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00837/49 L_MckStateInterface_1: wInMckPosState_1
C00837/50 L_MckStateInterface_1: wInMckPosState_2
C00837/51 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_1
C00837/52 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_2
C00837/53 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_3
C00837/54 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_4
C00837/55 L_ConvWordToBits_1: wInput
C00837/56 L_ConvWordToBits_2: wInput
C00837/57 L_ConvWordToBits_3: wInput
C00837/58 L_ConvWordsToDInt_1: wInLWord
C00837/59 L_ConvWordsToDInt_1: wInHWord
C00837/60 L_ConvWordsToDInt_2: wInLWord
C00837/61 L_ConvWordsToDInt_2: wInHWord
C00837/62 L_ConvWordsToDInt_3: wInLWord
C00837/63 L_ConvWordsToDInt_3: wInHWord
C00837/64 L_ConvUnitsToIncr_1: wInLWord
C00837/65 L_ConvUnitsToIncr_1: wInHWord
C00837/66 L_ConvUnitsToIncr_2: wInLWord
C00837/67 L_ConvUnitsToIncr_2: wInHWord
C00837/68 L_ConvUnitsToIncr_3: wInLWord
C00837/69 L_ConvUnitsToIncr_3: wInHWord
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00837 | 16bit input velocity AdditionalFBsHLData type: INTEGER_16Index: 23738d = 5CBAh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 805
8400 HighLine C | Software ManualParameter reference
Parameter list | C00838
C00838Parameter | Name:
C00838 | 8bit input AdditionalFBsHLData type: UNSIGNED_8
Index: 23737d = 5CB9h
Display of the signal status of the binary inputs of different blocks • As addition for the parameter C00833.
Selection list
0 False
1 True
Subcodes Information
C00838/1 L_And_4: bIn1
C00838/2 L_And_4: bIn2
C00838/3 L_And_4: bIn3
C00838/4 L_And_4: bIn4
C00838/5 L_And_4: bIn5
C00838/6 L_And_5: bIn1
C00838/7 L_And_5: bIn2
C00838/8 L_And_5: bIn3
C00838/9 L_And_5: bIn4
C00838/10 L_And_5: bIn5
C00838/11 L_AnalogSwitch_4: bSet(switch over analog values)
C00838/12 L_AnalogSwitch_5: bSet(switch over analog values)
C00838/13 L_DFlipFlop_2: bD(set input)
C00838/14 L_DFlipFlop_2: bClk(clock input)
C00838/15 L_DFlipFlop_2: bClr(reset input)
C00838/16 L_DigDelay_2: bIn
C00838/17 L_DigDelay_3: bIn
C00838/18 L_PhaseIntK_1: bLoad(load integrator)
C00838/19 L_PhaseIntK_2: bLoad(load integrator)
C00838/20 L_DigitalLogic_2: bIn1
C00838/21 L_DigitalLogic_2: bIn2
C00838/22 L_DigitalLogic_2: bIn3
C00838/23 L_DigitalLogic5_1: bIn1
C00838/24 L_DigitalLogic5_1: bIn2
C00838/25 L_DigitalLogic5_1: bIn3
C00838/26 L_DigitalLogic5_1: bIn4
C00838/27 L_DigitalLogic5_1: bIn5
C00838/28 L_DigitalLogic5_2: bIn1
C00838/29 L_DigitalLogic5_2: bIn2
C00838/30 L_DigitalLogic5_2: bIn3
C00838/31 L_DigitalLogic5_2: bIn4
C00838/32 L_DigitalLogic5_2: bIn5
8400 HighLine C | Software ManualParameter referenceParameter list | C00838
806 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00838/33 L_NLim_2: bEnable(activate FB)
C00838/34 L_Or_4: bIn1
C00838/35 L_Or_4: bIn2
C00838/36 L_Or_4: bIn3
C00838/37 L_Or_4: bIn4
C00838/38 L_Or_4: bIn5
C00838/39 L_Or_5: bIn1
C00838/40 L_Or_5: bIn2
C00838/41 L_Or_5: bIn3
C00838/42 L_Or_5: bIn4
C00838/43 L_Or_5: bIn5
C00838/44 L_Not_4: bIn
C00838/45 L_Not_5: bIn
C00838/46 L_Not_6: bIn
C00838/47 L_Not_7: bIn
C00838/48 L_RSFlipFlop_1: bSet(set input)
C00838/49 L_RSFlipFlop_1: bReset(reset input)
C00838/50 L_RSFlipFlop_2: bSet(set input)
C00838/51 L_RSFlipFlop_2: bReset(reset input)
C00838/52 L_SampleHold_1: bLoad(save input signal)
C00838/53 L_SampleHold_2: bLoad(save input signal)
C00838/54 L_Counter_2: bClkUp(count up)
C00838/55 L_Counter_2: bClkDown(count down)
C00838/56 L_Counter_2: bLoad(load counter)
C00838/57 L_Counter_3: bClkUp(count up)
C00838/58 L_Counter_3: bClkDown(count down)
C00838/59 L_Counter_3: bLoad(load counter)
C00838/60 L_Transient_1: bIn
C00838/61 L_Transient_2: bIn
C00838/62 L_Transient_3: bIn
C00838/63 L_Transient_4: bIn
C00838/64 L_Counter_1: bCountUp(count up)
C00838/65 L_Counter_1: bCountDown(count down)
Parameter | Name:
C00838 | 8bit input AdditionalFBsHLData type: UNSIGNED_8
Index: 23737d = 5CB9h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 807
8400 HighLine C | Software ManualParameter reference
Parameter list | C00838
C00838/66 L_Counter_1: bLoad(load counter)
C00838/67 L_ConvBitsToWord_1: bBit0
C00838/68 L_ConvBitsToWord_1: bBit1
C00838/69 L_ConvBitsToWord_1: bBit2
C00838/70 L_ConvBitsToWord_1: bBit3
C00838/71 L_ConvBitsToWord_1: bBit4
C00838/72 L_ConvBitsToWord_1: bBit5
C00838/73 L_ConvBitsToWord_1: bBit6
C00838/74 L_ConvBitsToWord_1: bBit7
C00838/75 L_ConvBitsToWord_1: bBit8
C00838/76 L_ConvBitsToWord_1: bBit9
C00838/77 L_ConvBitsToWord_1: bBit10
C00838/78 L_ConvBitsToWord_1: bBit11
C00838/79 L_ConvBitsToWord_1: bBit12
C00838/80 L_ConvBitsToWord_1: bBit13
C00838/81 L_ConvBitsToWord_1: bBit14
C00838/82 L_ConvBitsToWord_1: bBit15
C00838/83 L_ConvBitsToWord_2: bBit0
C00838/84 L_ConvBitsToWord_2: bBit1
C00838/85 L_ConvBitsToWord_2: bBit2
C00838/86 L_ConvBitsToWord_2: bBit3
C00838/87 L_ConvBitsToWord_2: bBit4
C00838/88 L_ConvBitsToWord_2: bBit5
C00838/89 L_ConvBitsToWord_2: bBit6
C00838/90 L_ConvBitsToWord_2: bBit7
C00838/91 L_ConvBitsToWord_2: bBit8
C00838/92 L_ConvBitsToWord_2: bBit9
C00838/93 L_ConvBitsToWord_2: bBit10
C00838/94 L_ConvBitsToWord_2: bBit11
C00838/95 L_ConvBitsToWord_2: bBit12
C00838/96 L_ConvBitsToWord_2: bBit13
C00838/97 L_ConvBitsToWord_2: bBit14
C00838/98 L_ConvBitsToWord_2: bBit15
C00838/99 L_ConvBitsToWord_3: bBit0
C00838/100 L_ConvBitsToWord_3: bBit1
C00838/101 L_ConvBitsToWord_3: bBit2
C00838/102 L_ConvBitsToWord_3: bBit3
C00838/103 L_ConvBitsToWord_3: bBit4
C00838/104 L_ConvBitsToWord_3: bBit5
C00838/105 L_ConvBitsToWord_3: bBit6
C00838/106 L_ConvBitsToWord_3: bBit7
C00838/107 L_ConvBitsToWord_3: bBit8
C00838/108 L_ConvBitsToWord_3: bBit9
Parameter | Name:
C00838 | 8bit input AdditionalFBsHLData type: UNSIGNED_8
Index: 23737d = 5CB9h
8400 HighLine C | Software ManualParameter referenceParameter list | C00838
808 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00838/109 L_ConvBitsToWord_3: bBit10
C00838/110 L_ConvBitsToWord_3: bBit11
C00838/111 L_ConvBitsToWord_3: bBit12
C00838/112 L_ConvBitsToWord_3: bBit13
C00838/113 L_ConvBitsToWord_3: bBit14
C00838/114 L_ConvBitsToWord_3: bBit15
C00838/115 MckCtrlInterface_1: bManJogPos(positive manual jog)
C00838/116 MckCtrlInterface_1: bManJogNeg(negative manual jog)
C00838/117 MckCtrlInterface_1: bManJogNeg(activate second manual speed)
C00838/118 MckCtrlInterface_1: bReleaseLimitSwitch(retract limit switch)
C00838/119 MckCtrlInterface_1: bHomingStartStop(start/stop homing)
C00838/120 MckCtrlInterface_1: bHomingSetPos(set home position)
C00838/121 MckCtrlInterface_1: bHomingResetPos(reset home position)
C00838/122 MckCtrlInterface_1: bEnableVelOverride(activate speed override)
C00838/123 MckCtrlInterface_1: bEnableAccOverride(activate acceleration override)
C00838/124 MckCtrlInterface_1: bDisableSShaping(deactivate S-shaping for profile ramps)
C00838/125 MckCtrlInterface_1: bPosExecute(start positioning)
C00838/126 MckCtrlInterface_1: bPosExecuteFinish(complete aborted positioning process)
C00838/127 MckCtrlInterface_1: bPosDisableFollowProfile(deactivate sequence profiles)
C00838/128 MckCtrlInterface_1: bPosStop(stop profile generation)
C00838/129 MckCtrlInterface_1: bPosTeachSetPos(teach selected position in profile data set)
C00838/130 MckCtrlInterface_1: bPosTeachActPos(teach actual position in profile data set)
C00838/131 MckCtrlInterface_1: bProfileNo_1(binary profile selection - valency 1)
C00838/132 MckCtrlInterface_1: bProfileNo_2(binary profile selection - valency 2)
C00838/133 MckCtrlInterface_1: bProfileNo_4(binary profile selection - valency 4)
C00838/134 MckCtrlInterface_1: bProfileNo_8(binary profile selection - valency 8)
Parameter | Name:
C00838 | 8bit input AdditionalFBsHLData type: UNSIGNED_8
Index: 23737d = 5CB9h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 809
8400 HighLine C | Software ManualParameter reference
Parameter list | C00839
C00839
C00838/135 MckCtrlInterface_1: bOperationMode_1(binary operating mode selection - valency 1)
C00838/136 MckCtrlInterface_1: bOperationMode_2(binary operating mode selection - valency 2)
C00838/137 MckCtrlInterface_1: bOperationMode_4(binary operating mode selection - valency 4)
C00838/138 MckCtrlInterface_1: bOperationMode_8(binary operating mode selection - valency 8)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00838 | 8bit input AdditionalFBsHLData type: UNSIGNED_8
Index: 23737d = 5CB9h
Parameter | Name:
C00839 | 32bit input AdditionalFBsHLData type: INTEGER_32Index: 23736d = 5CB8h
Display of 32-bit input values of different blocks in [increments] • As addition for parameter C00834.
Display range (min. value | unit | max. value)
-2147483647 incr 2147483647
Subcodes Information
C00839/1 L_ComparePhi_1: dnIn1_p
C00839/2 L_ComparePhi_1: dnIn2_p
C00839/3 L_ComparePhi_2: dnIn1_p
C00839/4 L_ComparePhi_2: dnIn2_p
C00839/5 L_ComparePhi_3: dnIn1_p
C00839/6 L_ComparePhi_3: dnIn2_p
C00839/7 L_ComparePhi_4: dnIn1_p
C00839/8 L_ComparePhi_4: dnIn2_p
C00839/9 L_ComparePhi_5: dnIn1_p
C00839/10 L_ComparePhi_5: dnIn2_p
C00839/11 L_ArithmetikPhi_1: dnIn1_p
C00839/12 L_ArithmetikPhi_1: dnIn2_p
C00839/13 L_ArithmetikPhi_2: dnIn1_p
C00839/14 L_ArithmetikPhi_2: dnIn2_p
C00839/15 L_ArithmetikPhi_3: dnIn1_p
C00839/16 L_ArithmetikPhi_3: dnIn2_p
C00839/17 L_GainOffsetPhiP_1: dnIn_p
C00839/18 L_GainOffsetPhiP_2: dnIn_p
C00839/19 L_LimitPhi_1: dnIn_p
C00839/20 L_LimitPhi_2: dnIn_p
C00839/21 L_LimitPhi_3: dnIn_p
C00839/22 L_OffsetGainPhiP_1: dnIn_p
C00839/23 L_OffsetGainPhiP_2: dnIn_p
C00839/24 L_PhaseIntK_1: dnSet_p
C00839/25 L_PhaseIntK_2: dnSet_p
C00839/26 L_Mux_1: dnInput1_p
C00839/27 L_Mux_1: dnInput2_p
C00839/28 L_Mux_1: dnInput3_p
C00839/29 L_Mux_1: dnInput4_p
8400 HighLine C | Software ManualParameter referenceParameter list | C00840
810 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00840
C00839/30 L_Mux_1: dnInput5_p
C00839/31 L_Mux_1: dnInput6_p
C00839/32 L_Mux_1: dnInput7_p
C00839/33 L_Mux_1: dnInput8_p
C00839/34 L_Sqrt_1: dnInput_p
C00839/35 L_ConvDIntToWords_1: dnInput_p
C00839/36 L_ConvDIntToWords_2: dnInput_p
C00839/37 L_ConvDIntToWords_3: dnInput_p
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00839 | 32bit input AdditionalFBsHLData type: INTEGER_32Index: 23736d = 5CB8h
Parameter | Name:
C00840 | 16Bit-SysInput analogData type: INTEGER_16Index: 23735d = 5CB7h
Display in percent of 16-bit input values of different I/O level blocks
Display range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Information
C00840/1 LS_AnalogOutput:nOut1_a
C00840/2 LP_CanOut1:wState
C00840/3 LP_CanOut1:wOut2
C00840/4 LP_CanOut1:wOut3
C00840/5 LP_CanOut1: wOut4
C00840/6 LP_CanOut2: wOut1
C00840/7 LP_CanOut2: wOut2
C00840/8 LP_CanOut2: wOut3
C00840/9 LP_CanOut2: wOut4
C00840/10 LP_CanOut3: wOut1
C00840/11 LP_CanOut3: wOut2
C00840/12 LP_CanOut3: wOut3
C00840/13 LP_CanOut3: wOut4
C00840/14 LS_DisFree_a: wDis1_a
C00840/15 LS_DisFree_a: wDis2_a
C00840/16 LS_DisFree_a: wDis3_a
C00840/17 LS_DisFree_a: wDis4_a
C00840/18 LS_DisFree:wDis1
C00840/19 LS_DisFree:wDis2
C00840/20 LS_DisFree:wDis3
C00840/21 LS_DisFree:wDis4
C00840/22 LP_MciOut:wState
C00840/23 LP_MciOut:wOut2
C00840/24 LP_MciOut:wOut3
C00840/25 LP_MciOut: wOut4
C00840/26 LP_MciOut: wOut5
C00840/27 LP_MciOut: wOut6
C00840/28 LP_MciOut: wOut7
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 811
8400 HighLine C | Software ManualParameter reference
Parameter list | C00841
C00841
C00840/29 LP_MciOut: wOut8
C00840/30 LP_MciOut: wOut9
C00840/31 LP_MciOut: wOut10
C00840/32 LP_MciOut: wOut11
C00840/33 LP_MciOut: wOut12
C00840/34 LP_MciOut: wOut13
C00840/35 LP_MciOut: wOut14
C00840/36 LP_MciOut: wOut15
C00840/37 LP_MciOut: wOut16
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00840 | 16Bit-SysInput analogData type: INTEGER_16Index: 23735d = 5CB7h
Parameter | Name:
C00841 | 16Bit-SysInput commonData type: UNSIGNED_16
Index: 23734d = 5CB6h
Decimal/hexadecimal/bit-coded display of 16-bit input values of different I/O level blocks
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00841/1 LS_AnalogOutput:nOut1_a
C00841/2 LP_CanOut1:wState
C00841/3 LP_CanOut1:wOut2
C00841/4 LP_CanOut1:wOut3
C00841/5 LP_CanOut1: wOut4
C00841/6 LP_CanOut2: wOut1
C00841/7 LP_CanOut2: wOut2
C00841/8 LP_CanOut2: wOut3
C00841/9 LP_CanOut2: wOut4
C00841/10 LP_CanOut3: wOut1
C00841/11 LP_CanOut3: wOut2
C00841/12 LP_CanOut3: wOut3
C00841/13 LP_CanOut3: wOut4
C00841/14 LS_DisFree_a: wDis1_a
C00841/15 LS_DisFree_a: wDis2_a
C00841/16 LS_DisFree_a: wDis3_a
C00841/17 LS_DisFree_a: wDis4_a
C00841/18 LS_DisFree:wDis1
C00841/19 LS_DisFree:wDis2
C00841/20 LS_DisFree:wDis3
C00841/21 LS_DisFree:wDis4
C00841/22 LP_MciOut:wState
C00841/23 LP_MciOut:wOut2
8400 HighLine C | Software ManualParameter referenceParameter list | C00843
812 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00843
C00841/24 LP_MciOut:wOut3
C00841/25 LP_MciOut: wOut4
C00841/26 LP_MciOut: wOut5
C00841/27 LP_MciOut: wOut6
C00841/28 LP_MciOut: wOut7
C00841/29 LP_MciOut: wOut8
C00841/30 LP_MciOut: wOut9
C00841/31 LP_MciOut: wOut10
C00841/32 LP_MciOut: wOut11
C00841/33 LP_MciOut: wOut12
C00841/34 LP_MciOut: wOut13
C00841/35 LP_MciOut: wOut14
C00841/36 LP_MciOut: wOut15
C00841/37 LP_MciOut: wOut16
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00841 | 16Bit-SysInput commonData type: UNSIGNED_16
Index: 23734d = 5CB6h
Parameter | Name:
C00843 | 8bit SysInputData type: UNSIGNED_8
Index: 23732d = 5CB4h
Display of the signal status of the binary inputs of different I/O level blocks
Selection list
0 False
1 True
Subcodes Information
C00843/1 LS_DigitalOutput:bRelay
C00843/2 LS_DigitalOutput:bOut1
C00843/3 LS_DigitalInput: bCountIn1_Reset
C00843/4 LS_DigitalInput: bCountIn1_LoadStartValue
C00843/5 LP_CanOut1: bState_B0
C00843/6 LP_CanOut1: bState_B1
C00843/7 LP_CanOut1: bState_B2
C00843/8 LP_CanOut1: bState_B3
C00843/9 LP_CanOut1:bState_B4
C00843/10 LP_CanOut1: bState_B5
C00843/11 LP_CanOut1: bState_B6
C00843/12 LP_CanOut1: bState_B7
C00843/13 LP_CanOut1: bState_B8
C00843/14 LP_CanOut1: bState_B9
C00843/15 LP_CanOut1: bState_B10
C00843/16 LP_CanOut1: bState_B11
C00843/17 LP_CanOut1: bState_B12
C00843/18 LP_CanOut1: bState_B13
C00843/19 LP_CanOut1: bState_B14
C00843/20 LP_CanOut1: bState_B15
C00843/21 LS_DisFree_b:bDis1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 813
8400 HighLine C | Software ManualParameter reference
Parameter list | C00843
C00843/22 LS_DisFree_b:bDis2
C00843/23 LS_DisFree_b:bDis3
C00843/24 LS_DisFree_b:bDis4
C00843/25 LS_DisFree_b:bDis5
C00843/26 LS_DisFree_b:bDis6
C00843/27 LS_DisFree_b:bDis7
C00843/28 LS_DisFree_b:bDis8
C00843/29 LP_CanOut2: bOut1_B0
C00843/30 LP_CanOut2: bOut1_B1
C00843/31 LP_CanOut2: bOut1_B2
C00843/32 LP_CanOut2: bOut1_B3
C00843/33 LP_CanOut2: bOut1_B4
C00843/34 LP_CanOut2: bOut1_B5
C00843/35 LP_CanOut2: bOut1_B6
C00843/36 LP_CanOut2: bOut1_B7
C00843/37 LP_CanOut2: bOut1_B8
C00843/38 LP_CanOut2: bOut1_B9
C00843/39 LP_CanOut2: bOut1_B10
C00843/40 LP_CanOut2: bOut1_B11
C00843/41 LP_CanOut2: bOut1_B12
C00843/42 LP_CanOut2: bOut1_B13
C00843/43 LP_CanOut2: bOut1_B14
C00843/44 LP_CanOut2: bOut1_B15
C00843/45 LP_CanOut3: bOut1_B0
C00843/46 LP_CanOut3: bOut1_B1
C00843/47 LP_CanOut3: bOut1_B2
C00843/48 LP_CanOut3: bOut1_B3
C00843/49 LP_CanOut3: bOut1_B4
C00843/50 LP_CanOut3: bOut1_B5
C00843/51 LP_CanOut3: bOut1_B6
C00843/52 LP_CanOut3: bOut1_B7
C00843/53 LP_CanOut3: bOut1_B8
C00843/54 LP_CanOut3: bOut1_B9
C00843/55 LP_CanOut3: bOut1_B10
C00843/56 LP_CanOut3: bOut1_B11
C00843/57 LP_CanOut3: bOut1_B12
C00843/58 LP_CanOut3: bOut1_B13
C00843/59 LP_CanOut3: bOut1_B14
C00843/60 LP_CanOut3: bOut1_B15
C00843/61 LP_MciOut: bState_B0
C00843/62 LP_MciOut: bState_B1
C00843/63 LP_MciOut: bState_B2
C00843/64 LP_MciOut: bState_B3
C00843/65 LP_MciOut: bState_B4
Parameter | Name:
C00843 | 8bit SysInputData type: UNSIGNED_8
Index: 23732d = 5CB4h
8400 HighLine C | Software ManualParameter referenceParameter list | C00843
814 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00843/66 LP_MciOut: bState_B5
C00843/67 LP_MciOut: bState_B6
C00843/68 LP_MciOut: bState_B7
C00843/69 LP_MciOut: bState_B8
C00843/70 LP_MciOut: bState_B9
C00843/71 LP_MciOut: bState_B10
C00843/72 LP_MciOut: bState_B11
C00843/73 LP_MciOut: bState_B12
C00843/74 LP_MciOut: bState_B13
C00843/75 LP_MciOut: bState_B14
C00843/76 LP_MciOut: bState_B15
C00843/77 LP_MciOut: bOut2_B0
C00843/78 LP_MciOut: bOut2_B1
C00843/79 LP_MciOut: bOut2_B2
C00843/80 LP_MciOut: bOut2_B3
C00843/81 LP_MciOut: bOut2_B4
C00843/82 LP_MciOut: bOut2_B5
C00843/83 LP_MciOut: bOut2_B6
C00843/84 LP_MciOut: bOut2_B7
C00843/85 LP_MciOut: bOut2_B8
C00843/86 LP_MciOut: bOut2_B9
C00843/87 LP_MciOut: bOut2_B10
C00843/88 LP_MciOut: bOut2_B11
C00843/89 LP_MciOut: bOut2_B12
C00843/90 LP_MciOut: bOut2_B13
C00843/91 LP_MciOut: bOut2_B14
C00843/92 LP_MciOut: bOut2_B15
C00843/93 LS_SetError_1_bSetError1
C00843/94 LS_SetError_1_bSetError2
C00843/95 LS_SetError_1_bSetError3
C00843/96 LS_SetError_1_bSetError4
C00843/97 LS_DigitalInput: bCountIn6_Reset
C00843/98 LS_DigitalInput: bCountIn6_LoadStartValue
C00843/99 LS_DigitalOutput: bOut2
C00843/100 LS_DigitalOutput: bOut3
C00843/101 LS_DigitalOutput: bOut HighCurrent
C00843/102 Ls_DisFree_b: bDis9
C00843/103 Ls_DisFree_b: bDis10
C00843/104 Ls_DisFree_b: bDis11
C00843/105 Ls_DisFree_b: bDis12
C00843/106 Ls_DisFree_b: bDis13
Parameter | Name:
C00843 | 8bit SysInputData type: UNSIGNED_8
Index: 23732d = 5CB4h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 815
8400 HighLine C | Software ManualParameter reference
Parameter list | C00844
C00844
C00843/107 Ls_DisFree_b: bDis14
C00843/108 Ls_DisFree_b: bDis15
C00843/109 Ls_DisFree_b: bDis16
C00843/110 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00843 | 8bit SysInputData type: UNSIGNED_8
Index: 23732d = 5CB4h
Parameter | Name:
C00844 | 32bit SysInputData type: INTEGER_32Index: 23731d = 5CB3h
Display of 32-bit input values of different I/O level blocks in [increments]
Display range (min. value | unit | max. value)
-2147483647 incr 2147483647
Subcodes Information
C00844/1 LS_DisFree_p:dnDis1_p
C00844/2 LS_DisFree_p:dnDis2_p
C00844/3 LS_DisFree_p: dnDis3_p
C00844/4 LS_DisFree_p: dnDis4_p
C00844/5 LS_DisFree_p: dnDis5_p
C00844/6 LS_DisFree_p: dnDis6_p
C00844/7 LS_DisFree_p: dnDis7_p
C00844/8 LS_DisFree_p: dnDis8_p
C00844/9 LP_CanOut1: dnOut34_p
C00844/10 LP_CanOut2: dnOut34_p
C00844/11 LP_CanOut3: dnOut34_p
C00844/12 LP_MciOut: dnOut34_p
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C00866
816 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00866Parameter | Name:
C00866 | CAN input wordsData type: UNSIGNED_16
Index: 23709d = 5C9Dh
Display of the 16-bit input values of the CAN interfaceSystem bus "CAN on board"
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00866/1 LP_CanIn1: wCtrl
C00866/2 LP_CanIn1: wIn2
C00866/3 LP_CanIn1: wIn3
C00866/4 LP_CanIn1: wIn4
C00866/5 LP_CanIn2: wIn1
C00866/6 LP_CanIn2: wIn2
C00866/7 LP_CanIn2: wIn3
C00866/8 LP_CanIn2: wIn4
C00866/9 LP_CanIn3: wIn1
C00866/10 LP_CanIn3: wIn2
C00866/11 LP_CanIn3: wIn3
C00866/12 LP_CanIn3: wIn4
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 817
8400 HighLine C | Software ManualParameter reference
Parameter list | C00868
C00868Parameter | Name:
C00868 | CAN output wordsData type: UNSIGNED_16
Index: 23707d = 5C9Bh
Display of the 16-bit output values of the CAN interfaceSystem bus "CAN on board"
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
Bit 1 Bit1
Bit 2 Bit2
Bit 3 Bit3
Bit 4 Bit4
Bit 5 Bit5
Bit 6 Bit6
Bit 7 Bit7
Bit 8 Bit8
Bit 9 Bit9
Bit 10 Bit10
Bit 11 Bit11
Bit 12 Bit12
Bit 13 Bit13
Bit 14 Bit14
Bit 15 Bit15
Subcodes Information
C00868/1 LP_CanOut1:wState
C00868/2 LP_CanOut1:wOut2
C00868/3 LP_CanOut1:wOut3
C00868/4 LP_CanOut1: wOut4
C00868/5 LP_CanOut2: wOut1
C00868/6 LP_CanOut2: wOut2
C00868/7 LP_CanOut2: wOut3
C00868/8 LP_CanOut2: wOut4
C00868/9 LP_CanOut3: wOut1
C00868/10 LP_CanOut3: wOut2
C00868/11 LP_CanOut3: wOut3
C00868/12 LP_CanOut3: wOut4
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00876
818 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00876Parameter | Name:
C00876 | MCI input wordsData type: UNSIGNED_16
Index: 23699d = 5C93h
Display of the 16-bit input values from the communication module
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00876/1 LP_MciIn:wCtrl
C00876/2 LP_MciIn: wIn2
C00876/3 LP_MciIn: wIn3
C00876/4 LP_MciIn: wIn4
C00876/5 LP_MciIn: wIn5
C00876/6 LP_MciIn: wIn6
C00876/7 LP_MciIn: wIn7
C00876/8 LP_MciIn: wIn8
C00876/9 LP_MciIn: wIn9
C00876/10 LP_MciIn: wIn10
C00876/11 LP_MciIn: wIn11
C00876/12 LP_MciIn: wIn12
C00876/13 LP_MciIn: wIn13
C00876/14 LP_MciIn: wIn14
C00876/15 LP_MciIn: wIn15
C00876/16 LP_MciIn: wIn16
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 819
8400 HighLine C | Software ManualParameter reference
Parameter list | C00877
C00877
C00890
Parameter | Name:
C00877 | MCI output wordsData type: UNSIGNED_16
Index: 23698d = 5C92h
Display of the 16-bit output values to the communication module
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Subcodes Information
C00877/1 LP_MciOut:wState
C00877/2 LP_MciOut:wOut2
C00877/3 LP_MciOut:wOut3
C00877/4 LP_MciOut: wOut4
C00877/5 LP_MciOut: wOut5
C00877/6 LP_MciOut: wOut6
C00877/7 LP_MciOut: wOut7
C00877/8 LP_MciOut: wOut8
C00877/9 LP_MciOut: wOut9
C00877/10 LP_MciOut: wOut10
C00877/11 LP_MciOut: wOut11
C00877/12 LP_MciOut: wOut12
C00877/13 LP_MciOut: wOut13
C00877/14 LP_MciOut: wOut14
C00877/15 LP_MciOut: wOut15
C00877/16 LP_MciOut: wOut16
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C00890 | MCI_InOut: InversionData type: UNSIGNED_16
Index: 23685d = 5C85h
As of version 02.00.00Via these parameters, the control and status bits of the MCI port blocks can be inverted
Setting range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 Bit0 Bit set = inversion active
... ...
Bit 15 Bit15
Subcodes Lenze setting Information
C00890/1 0 Inversion of LP_MciIn.wCtrl
C00890/2 0 Inversion of LP_MciOut.wState
C00890/3 0 Inversion of LP_MciIn.bIn2_B0...15
C00890/4 0 Inversion of LP_MciOut.bOut2_B0...15
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C00909
820 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00909
C00910
C00915
C00916
C00917
C00922
Parameter | Name:
C00909 | Speed limitationData type: INTEGER_16Index: 23666d = 5C72h
Maximum positive/negative speed for all operating modes
Setting range (min. value | unit | max. value)
0.00 % 175.00
Subcodes Lenze setting Information
C00909/1 120.00 % Max. pos. speed
C00909/2 120.00 % Max. neg. speed
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00910 | Frequency limitationData type: UNSIGNED_16
Index: 23665d = 5C71h
Maximum positive/negative output frequency for all operating modes
Setting range (min. value | unit | max. value)
0 Hz 1000
Subcodes Lenze setting Information
C00910/1 1000 Hz Max. pos. output frequency
C00910/2 1000 Hz Max. neg. output frequency
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00915 | Motor cable lengthData type: UNSIGNED_16
Index: 23660d = 5C6Ch
Single motor cable length for calculating the motor cable resistance • The calculated motor cable resistance is displayed in C00917.
Setting range (min. value | unit | max. value) Lenze setting
0.0 m 1000.0 5.0 m
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
Parameter | Name:
C00916 | Motor cable cross-sectionData type: UNSIGNED_16
Index: 23659d = 5C6Bh
Motor cable cross-section of a phase/cable for calculating the motor cable resistance • The calculated motor cable resistance is displayed in C00917.
Setting range (min. value | unit | max. value) Lenze setting
0.50 mm^2 100.00 6.00 mm^2
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00917 | Motor cable resistanceData type: UNSIGNED_16
Index: 23658d = 5C6Ah
Display of the motor cable resistance of a motor cable phase • The motor cable resistance is calculated based on the motor cable length set in C00915 and the motor cable
cross-section set in C00916.
Display range (min. value | unit | max. value)
0 mOhm 64000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00922 | ICM_DiagnosticCounterData type: UNSIGNED_16
Index: 23653d = 5C65h
This code is for device-internal use only and must not be written to by the user!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 821
8400 HighLine C | Software ManualParameter reference
Parameter list | C00966
C00966
C00971
C00972
C00973
Parameter | Name:
C00966 | VFC: Time const. - slip compens.Data type: UNSIGNED_16
Index: 23609d = 5C39h
Filter time constant of the slip compensation for VFCplus mode • The slip compensation time constant can be used to select the dynamic performance of the slip compensation
for non-feedback V/f characteristic control. • The lower the selected time constant, the higher the dynamic performance of the slip compensation.
Setting range (min. value | unit | max. value) Lenze setting
1 ms 6000 100 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00971 | VFC: Limitation V/f +encoderData type: UNSIGNED_16
Index: 23604d = 5C34h
Limitation of the output frequency of the slip regulator and limitation of the injected stator frequency for VFCplus+encoder mode
Setting range (min. value | unit | max. value)
0.00 Hz 100.00
Subcodes Lenze setting Information
C00971/1 10.00 Hz Maximum output/ correcting variable of the slip regulator • The slip regulator output is limited to the value in
motor mode and in generator mode set here. • It is recommended to select 1 to 3-times the slip
frequency of the motor as limit value.
C00971/2 100.00 Hz Maximum frequency deviation between the rotational frequency (speed) measured mechanically by the encoder and the injected stator frequency. • Through a limitation, you can e.g. avoid an
overcurrent interruption when traversing to a fixed limit stop.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00972 | VFC: Vp V/f +encoderData type: UNSIGNED_16
Index: 23603d = 5C33h
Proportional gain of the slip regulator for VFCplus+encoder mode • Select the gain depending on the drive system and the encoder resolution (range from 0.005 ... 5). • High gain values require a high PPR count.
Setting range (min. value | unit | max. value) Lenze setting
0.000 Hz/Hz 64.000 0.100 Hz/Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C00973 | VFC: Ti V/f +encoderData type: UNSIGNED_16
Index: 23602d = 5C32h
Integral time constant of the slip regulator for VFCplus+encoder mode • Usually, the time constant should be selected between 20 ms (high dynamic performance) and 200 ms (low
dynamic performance).
Setting range (min. value | unit | max. value) Lenze setting
0.0 ms 6000.0 100.0 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10
8400 HighLine C | Software ManualParameter referenceParameter list | C00985
822 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00985
C00986
C00990
C00991
C00992
Parameter | Name:
C00985 | SLVC: Field current controller gainData type: INTEGER_16Index: 23590d = 5C26h
Gain of the direct-axis current difference (Id) between setpoint and actual current for the voltage model of the SLVC (vector control) mode • The gain should be selected between 0 and 1 %.
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 10.00 0.50 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00986 | SLVC: Cross current controller gainData type: INTEGER_16Index: 23589d = 5C25h
Gain of the I-Q-difference for the voltage model of the SLVC (vector control) mode
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 10.00 0.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C00990 | Flying restart fct: ActivationData type: UNSIGNED_8
Index: 23585d = 5C21h
Switch on /activate flying restart circuit for non-feedback drive systems
Selection list (Lenze setting printed in bold)
0 Off
1 On
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00991 | Flying restart fct: ProcessData type: UNSIGNED_16
Index: 23584d = 5C20h
Selection of the starting value and the speed search range for the flying restart function
Selection list (Lenze setting printed in bold) Information
0 0...+n | Start: +10 Hz Search positive speed range (0 ... +n) with a start frequency of +10 Hz
1 -n...0 | Start: -10 Hz Search negative speed range (-n ... 0) with a start frequency of -10 Hz
2 -n...+n | Start: +10 Hz Search negative and positive speed range (-n ... n) with a start frequency of +10 Hz
3 -n...+n | Start: -10 Hz Search negative and positive speed range (-n ... n) with a start frequency of -10 Hz
4 -n...+n | Start: Cx992 Search negative and positive speed range (-n ... n) with the start frequency set in C00992
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C00992 | Flying restart: Start frequencyData type: INTEGER_16Index: 23583d = 5C1Fh
Manual selection of the starting value for the flying restart function • Only active if C00991 = 4
Setting range (min. value | unit | max. value) Lenze setting
-200 Hz 200 5 Hz
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 823
8400 HighLine C | Software ManualParameter reference
Parameter list | C00993
C00993
C00994
C01010
C01100
Parameter | Name:
C00993 | Flying restart fct: Int. timeData type: UNSIGNED_16
Index: 23582d = 5C1Eh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C00994 | Flying restart fct: CurrentData type: INTEGER_16Index: 23581d = 5C1Dh
Current to be injected during the flying restart process • 100 % ≡ rated motor current (C00081). • The flying restart current should amount to 10 ... 25 % of the rated motor current.
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 25.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C01010 | L_ArithmetikPhi 1-3: FunctionData type: UNSIGNED_8
Index: 23565d = 5C0Dh
FB L_ArithmetikPhi_1-3: Selection of the internal arithmetic
Selection list
0 dnOut_p = dnIn1_p
1 dnOut_p = dnIn1_p + dnIn2_p
2 dnOut_p = dnIn1_p - dnIn2_p
3 dnOut_p = dnIn1_p * dnIn2_p
4 dnOut_p = dnIn1_p / dnIn2_p
Subcodes Lenze setting Information
C01010/1 0: dnOut_p = dnIn1_p L_ArithmetikPhi_1: Function
C01010/2 0: dnOut_p = dnIn1_p L_ArithmetikPhi_2: Function
C01010/3 0: dnOut_p = dnIn1_p L_ArithmetikPhi_3: Function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01100 | Function L_Counter 1-3Data type: UNSIGNED_8
Index: 23475d = 5BB3h
FB L_Counter_1-3: Selection of the reset function
Selection list
0 No function
1 Auto reset
2 Manual reset
Subcodes Lenze setting Information
C01100/1 0: Nop function L_Counter_1: Function
C01100/2 0: Nop function L_Counter_2: Function
C01100/3 0: Nop function L_Counter_3: Function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C01120
824 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01120
C01121
C01122
C01123
Parameter | Name:
C01120 | Sync signal sourceData type: UNSIGNED_8
Index: 23455d = 5B9Fh
As of version 02.00.00Selection of the signal source for device synchronisation • Basically, only one source can synchronise the drive.
Selection list (Lenze setting printed in bold) Information
0 Off Synchronisation off
1 CAN on board Synchronisation via "CAN on board" system busSync telegram
4 MCI Synchronisation via MCI (communication module)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01121 | Sync cycle time setpointData type: UNSIGNED_16
Index: 23454d = 5B9Eh
As of version 02.00.00Cycle time setpoint for device synchronisation • Time at which the phase-locking loop (PLL) in the controller expects the synchronisation signal. • The cycle time setpoint setting must correspond to the cycle of the corresponding synchronisation source.Note: If the system bus (CANopen) is used for synchronisation, only select integer multiples of 1000 μs.Example: For the system bus, 2 ms has been selected as interval between two synchronisation signals. If the system bus is to be used as synchronisation source, a synchronisation cycle of 2000 μs must be selected in C01121.
System bus "CAN on board": Sync telegram
Setting range (min. value | unit | max. value) Lenze setting
1000 μs 20000 1000 μs
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01122 | Sync phase positionData type: UNSIGNED_16
Index: 23453d = 5B9Dh
As of version 02.00.00Phase position for device synchronisation • The phase position determines the zero time of the application referred to the synchronisation signal (bus cycle).
Since PDO processing is an integral part of the system part of the application, a change of the phase position also changes the acceptance time of the PDOs.
• If "0" is set, the application will start at the same time as the synchronisation signal. • If a value > 0 is set, the application will start by the set time earlier (the phase position has a negative effect) than
the sychronisation signal.Example: If the phase position is set to 400 μs, the system part of the application starts 400 μs before the arrival of the synchronisation signal.
Setting range (min. value | unit | max. value) Lenze setting
0 μs 1000 0 μs
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01123 | Sync windowData type: UNSIGNED_16
Index: 23452d = 5B9Ch
As of version 02.00.00Synchronisation window for device synchronisation
Setting range (min. value | unit | max. value) Lenze setting
0 μs 10000 1000 μs
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 825
8400 HighLine C | Software ManualParameter reference
Parameter list | C01124
C01124
C01140
C01141
Parameter | Name:
C01124 | Sync correction incrementsData type: UNSIGNED_8
Index: 23451d = 5B9Bh
As of version 02.00.00Correction increment for device synchronisation • If the cycle times of the synchronisation signal and the phase-locking loop (PLL) are different, this setting defines
the correction increments for the phase-locking loop.
Selection list (Lenze setting printed in bold)
1 25ns
2 50ns
3 75ns
4 100ns
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01140 | L_Transient 1-4: FunctionData type: UNSIGNED_8
Index: 23435d = 5B8Bh
FB L_Transient_1-4: Selection of the edge evaluation
Selection list
0 High edge
1 Low edge
2 High and Low edge
Subcodes Lenze setting Information
C01140/1 0: High edge L_Transient_1: Function
C01140/2 0: High edge L_Transient_2: Function
C01140/3 0: High edge L_Transient_3: Function
C01140/4 0: High edge L_Transient_4: Function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01141 | L_Transient 1-4 pulse durationData type: UNSIGNED_16
Index: 23434d = 5B8Ah
FB L_Transient_1-4: Pulse duration
Setting range (min. value | unit | max. value)
0.000 s 60.000
Subcodes Lenze setting Information
C01141/1 0.000 s L_Transient_1: Pulse duration
C01141/2 0.000 s L_Transient_2: Pulse duration
C01141/3 0.000 s L_Transient_3: Pulse duration
C01141/4 0.000 s L_Transient_4: Pulse duration
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
8400 HighLine C | Software ManualParameter referenceParameter list | C01150
826 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01150
C01151
C01202
C01203
Parameter | Name:
C01150 | L_PhaseIntK: FunctionData type: UNSIGNED_8
Index: 23425d = 5B81h
FB L_PhaseIntK_1-2: Integrator loading behaviour
Selection list Information
0 Loading with level Load integrator with TRUE level at the input bLoad
1 Loading with edge Load integrator with FALSE-TRUE edge at the input bLoad
2 Loading with level + reset Load integrator when reaching the comparison value (C01151) or with TRUE level at the input bLoad
Subcodes Lenze setting Information
C01150/1 0: Loading with level L_PhaseIntK_1: Function
C01150/2 0: Loading with level L_PhaseIntK_2: Function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01151 | L_PhaseIntK: CompareData type: INTEGER_32Index: 23424d = 5B80h
FB L_PhaseIntK_1-2: Comparison value
Setting range (min. value | unit | max. value)
0 2000000000
Subcodes Lenze setting Information
C01151/1 0 L_PhaseIntK_1: Compare
C01151/2 0 L_PhaseIntK_2: Compare
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01202 | Axis data: iM motor/processData type: UNSIGNED_16
Index: 23373d = 5B4Dh
Gearbox factor - motor • Entry of the gearbox factor as numerator/denominator ratio (numerator = motor speed and denominator =
output speed of gearbox) or from the number of teeth of the gearbox arrangement.
Setting range (min. value | unit | max. value)
1 65535
Subcodes Lenze setting Information
C01202/1 1 iM: Numerator (motor speed Z2xZ4)
C01202/2 1 iM: Denominator (system speed Z1xZ3)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01203 | Axis data: iG motor/pos. encoderData type: UNSIGNED_16
Index: 23372d = 5B4Ch
Gearbox factor - position encoder • Entry of the gearbox factor as numerator/denominator ratio, with numerator = motor speed and denominator
= position encoder speed.
Setting range (min. value | unit | max. value)
1 65535
Subcodes Lenze setting Information
C01203/1 1 iG: Numerator (motor speed)
C01203/2 1 iG: Denominator (encoder speed)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 827
8400 HighLine C | Software ManualParameter reference
Parameter list | C01204
C01204
C01205
C01206
Parameter | Name:
C01204 | Axis data: Feed constantData type: INTEGER_32Index: 23371d = 5B4Bh
The feed constant corresponds to the machine movement for one revolution of the gearbox output shaft. • The value is entered in application units referred to one revolution.
Setting range (min. value | unit | max. value) Lenze setting
0.0100 units/rev. 214748.3647 360.0000 units/rev.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01205 | Axis data: Position resolutionData type: INTEGER_32Index: 23370d = 5B4Ah
Display of the number of increments corresponding to one unit. • 1 motor revolution ≡ 65536 increments
Display range (min. value | unit | max. value)
0.0000 incr/unit 214748.3647
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01206 | Axis data: Mounting directionData type: UNSIGNED_8
Index: 23369d = 5B49h
Inversion for mirrored motor and encoder mounting
Selection list
0 not inverted
1 inverted
Subcodes Lenze setting Information
C01206/1 0: Not inverted Motor mounting direction • Setting for motor mounting turned by 180°.
C01206/2 0: Not inverted Position encoder mounting direction • Setting for position encoder system mounting turned
by 180°.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C01210
828 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01210
C01211
C01213
Parameter | Name:
C01210 | Axis data: Current positionsData type: INTEGER_32Index: 23365d = 5B45h
Display of current position data of the MotionControlKernel
Display range (min. value | unit | max. value)
-214748.3647 units 214748.3647
Subcodes Information
C01210/1 MCK: curr. feed • Display of the current feed for positioning profiles as
a relative distance.
C01210/2 MCK: curr. set position • Display of the current setpoint position calculated by
the MCK.
C01210/3 MCK: curr. actual position • Display of the current actual position calculated by an
optional encoder system.
C01210/4 MCK: curr. following error • Display of the current following error as a difference
between setpoint position and actual position.
C01210/5 MCK: position accuracy • Display of the current positioning accuracy referred to
the actual number of increments of the position encoder.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01211 | Axis data: SpeedData type: INTEGER_32Index: 23364d = 5B44h
Display of the current speed data
Display range (min. value | unit | max. value)
-214748.3647 units/s 214748.3647
Subcodes Information
C01211/1 Max. traversing speed 100%_C11 • Display of the maximum traversing speed based on
the reference speed set in C00011.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01213 | MCK: max. travel distanceData type: INTEGER_32Index: 23362d = 5B42h
Display of current position limits
Display range (min. value | unit | max. value)
-2147480000 units 2147480000
Subcodes Information
C01213/1 MCK: max. travel distance • Display of the maximum distance to be traversed
referred to the 32-bit display area (max. 2147483647 increments).
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 829
8400 HighLine C | Software ManualParameter reference
Parameter list | C01215
C01215
C01218
Parameter | Name:
C01215 | Axis data: Following errorData type: INTEGER_32Index: 23360d = 5B40h
Limits for following error monitoring
Setting range (min. value | unit | max. value)
0.0000 units 214748.0000
Subcodes Lenze setting Information
C01215/1 0.0000 units MCK: following error limit 1 • First limit of the maximum following error for
monitoring and response activation.
C01215/2 0.0000 units MCK: following error limit 2 • Second limit of the maximum following error for
monitoring and response activation.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01218 | MCK: PosFollower settingData type: UNSIGNED_8
Index: 23357d = 5B3Dh
Settings for "Position follower" mode
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x0C (decimal: 12)
Value is bit-coded: ( = bit set) Information
Bit 0 Speed feedf. contr. value: nSpeedSetValue_a
"1" ≡ speed feedforward control value comes from main setpoint nSpeedSetValue_a
Bit 1 Speed feedf. contr. value: nSpeedAddValue_v
"1" ≡ speed feedforward control value comes from additive speed value nSpeedAddValue_v
Bit 2 HW limit switch on "1" ≡ travel range monitoring by means of hardware limit switches is active. The error response can be parameterised in C00595/1 and C00595/2.
Bit 3 SW limit switch on "1" ≡ travel range monitoring by means of parameterised software limit positions is active. The error response can be parameterised in C00595/3 and C00595/4.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
8400 HighLine C | Software ManualParameter referenceParameter list | C01219
830 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01219
C01221
C01222
Parameter | Name:
C01219 | MCK: Speed follower settingData type: UNSIGNED_8
Index: 23356d = 5B3Ch
Settings for "Speed follower" mode
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x0C (decimal: 12)
Value is bit-coded: ( = bit set) Information
Bit 0 Reserved
Bit 1 Reserved
Bit 2 HW limit switch on "1" ≡ travel range monitoring by means of hardware limit switches is active. The error response can be parameterised in C00595/1 and C00595/2.
Bit 3 SW limit switch on "1" ≡ travel range monitoring by means of parameterised software limit positions is active. The error response can be parameterised in C00595/3 and C00595/4.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C01221 | MCK: Ref modeData type: UNSIGNED_8
Index: 23354d = 5B3Ah
Selection of the homing mode.
Selection list (Lenze setting printed in bold) Information
6 >_Rn_>_TP Positive direction - via home mark (neg. edge) - continuing in positive direction - to TP
7 <_Rn_<_TP Negative direction - via home mark (neg. edge) - continuing in negative direction - to TP
8 >_TP Positive direction - to TP
9 <_TP Negative direction - to TP
10 >_Lp_<_TP Positive direction - reversing on pos. limit switch - to TP
11 <_Ln_>_TP Negative direction - reversing on neg. limit switch - to TP
12 >_Lp Positive direction - to pos. limit switch
13 <_Ln Negative direction - to neg. limit switch
14 >_Mlim Positive direction to torque limit
15 <_Mlim Negative direction to torque limit
100 SetRef Direct acceptance and setting of the home position • The measuring system is set when the drive is at
standstill based on the home position parameterised in C01227/2.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01222 | MCK: Ref. M limit mode 14/15Data type: INTEGER_16Index: 23353d = 5B39h
Torque limit for homing modes 14 and 15 (homing towards positive stop) • 100 % ≡ maximum torque (C00057)
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 199.99 10.00 %
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 831
8400 HighLine C | Software ManualParameter reference
Parameter list | C01223
C01223
C01224
C01225
C01226
Parameter | Name:
C01223 | MCK: Ref waiting time mode 14/15Data type: UNSIGNED_16
Index: 23352d = 5B38h
Blocking time for homing modes 14 and 15 (homing towards positive stop) • The home position is set if the torque limit set in C01222 has been exceeded for the time defined here.
Setting range (min. value | unit | max. value) Lenze setting
0 ms 65000 100 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01224 | MCK: Ref speedsData type: INTEGER_32Index: 23351d = 5B37h
Speeds for reference search/homing
Setting range (min. value | unit | max. value)
0.0000 unit/s 214748.3647
Subcodes Lenze setting Information
C01224/1 720.0000 unit/s MCK: ref starting speed • Starting speed for approaching the pre-stop signals.
C01224/2 180.0000 unit/s MCK: ref search speed • Search speed for detecting the reference initiator.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01225 | MCK: Ref accelerationsData type: INTEGER_32Index: 23350d = 5B36h
Accelerations for reference search/homing
Setting range (min. value | unit | max. value)
0.0000 unit/s2 214748.3647
Subcodes Lenze setting Information
C01225/1 720.0000 unit/s2 MCK: ref starting accel. • Starting acceleration for the starting speed ramps.
C01225/2 720.0000 unit/s2 MCK: ref search accel. • Search acceleration for the search speed ramps.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01226 | MCK: Ref S-ramp timeData type: UNSIGNED_16
Index: 23349d = 5B35h
S-ramp time for reference search/homing • Setting "0 s" ≡ no rounding
Setting range (min. value | unit | max. value)
0.000 s 10.000
Subcodes Lenze setting Information
C01226/1 0.000 s MCK: Ref S-ramp time • S-ramp time for the starting and search speed ramps.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
8400 HighLine C | Software ManualParameter referenceParameter list | C01227
832 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01227
C01228
C01229
Parameter | Name:
C01227 | MCK: Ref positionsData type: INTEGER_32Index: 23348d = 5B34h
Positions for determining the zero position of the reference measuring system
Setting range (min. value | unit | max. value)
-214748.3647 unit 214748.3647
Subcodes Lenze setting Information
C01227/1 0.0000 unit MCK: ref offset reference degree • Relative traverse path by which the drive traverses
after detection of the reference initiator.
C01227/2 0.0000 unit MCK: ref home position • Position with which setpoint and actual position are
loaded after completion of homing.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01228 | MCK: Ref sequence profileData type: UNSIGNED_8
Index: 23347d = 5B33h
Number of the sequence profile the absolute position of which will be approached after homing.
Setting range (min. value | unit | max. value) Lenze setting
0 15 0
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01229 | MCK: Position limiting valuesData type: INTEGER_32Index: 23346d = 5B32h
Software limit position for limiting the valid traversing range • The error response for leaving the valid traversing range can be parameterised in C00595/3 and C00595/4.
Note:For limiting the traversing range by means of software limit positions, the home position must be known and the positive software limit position must be higher than the negative software limit position!
Setting range (min. value | unit | max. value)
-214748.3647 units 214748.3647
Subcodes Lenze setting Information
C01229/1 0.0000 units MCK: positive SW limit position(positive travel range limit)
C01229/2 0.0000 units MCK: negative SW limit position(negative travel range limit)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 833
8400 HighLine C | Software ManualParameter reference
Parameter list | C01230
C01230
C01231
C01232
Parameter | Name:
C01230 | MCK: Manual jog settingData type: UNSIGNED_8
Index: 23345d = 5B31h
Settings for "Manual jog" mode
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x00 (decimal: 0)
Value is bit-coded: ( = bit set) Information
Bit 0 Breakpoints 1..4 on "1" ≡ approach of the parameterised breakpoint in manual jog direction
Bit 1 Enable 2nd speed "1" ≡ second manual speed can be activated via control bit in the MCK control word
Bit 2 HW limit switch on "1" ≡ travel range monitoring by means of hardware limit switches is active. The error response can be parameterised in C00595/1 and C00595/2.
Bit 3 SW limit switch on "1" ≡ travel range monitoring by means of parameterised software limit positions is active. The error response can be parameterised in C00595/3 and C00595/4.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 ManualJog with DCBrake "1" ≡ deceleration for manual jog with DC-injection braking of the motor
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C01231 | MCK: Manual jog speedsData type: INTEGER_32Index: 23344d = 5B30h
Manual jog speeds
Setting range (min. value | unit | max. value)
-214748.3647 units/s 214748.3647
Subcodes Lenze setting Information
C01231/1 360.0000 units/s Manual jog: speed 1 • Regular manual speed
C01231/2 720.0000 units/s Manual jog: speed 2 • Second manual speed (can be activated via MCK
control word)
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01232 | MCK: Manual jog accelerationsData type: INTEGER_32Index: 23343d = 5B2Fh
Acceleration/deceleration for manual jog
Setting range (min. value | unit | max. value)
-214748.3647 units/s2 214748.3647
Subcodes Lenze setting Information
C01232/1 720.0000 units/s2 Manual jog: Acceleration • Acceleration for ramp-up to manual speed.
C01232/2 720.0000 units/s2 Manual jog: Deceleration • Deceleration for manual speed ramp-down to
standstill.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
8400 HighLine C | Software ManualParameter referenceParameter list | C01233
834 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01233
C01234
C01235
C01236
Parameter | Name:
C01233 | MCK: Manual jog S-ramp timeData type: UNSIGNED_16
Index: 23342d = 5B2Eh
S-ramp time for manual jog • Setting "0 s" ≡ no rounding
Setting range (min. value | unit | max. value)
0.000 s 10.000
Subcodes Lenze setting Information
C01233/1 0.000 s Manual jog: S-ramp time • S-ramp time for the manual speed ramps.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C01234 | MCK: manual jog breakpointsData type: INTEGER_32Index: 23341d = 5B2Dh
Breakpoint positions for manual jog • The drive stops at the parameterised positions if they are in manual jog direction and breakpoint approaching
has been switched on in C01230 via bit 0.
Setting range (min. value | unit | max. value)
-214748.3647 unit 214748.3647
Subcodes Lenze setting Information
C01234/1 0.0000 unit Manual jog: breakpoint 1
C01234/2 0.0000 unit Manual jog: breakpoint 2
C01234/3 0.0000 unit Manual jog: breakpoint 3
C01234/4 0.0000 unit Manual jog: breakpoint 4
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01235 | MCK: Manual jog waiting timesData type: UNSIGNED_16
Index: 23340d = 5B2Ch
Waiting times for manual jog
Setting range (min. value | unit | max. value)
0.000 s 65.000
Subcodes Lenze setting Information
C01235/1 5.000 s Waiting time 2nd speed • Time after which the drive accelerates from the first
manual speed (C01231/1) to the second manual speed (C01231/2).
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C01236 | MCK: Follower speedsData type: INTEGER_32Index: 23339d = 5B2Bh
Speeds for position follower
Setting range (min. value | unit | max. value)
-214748.3647 units/s 214748.3647
Subcodes Lenze setting Information
C01236/1 360.0000 units/s PosFollower: sync. speed. • Synchronisation speed for approaching the setpoint
position of the master.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 835
8400 HighLine C | Software ManualParameter reference
Parameter list | C01237
C01237
C01238
C01239
Parameter | Name:
C01237 | MCK: Follower accelerationsData type: INTEGER_32Index: 23338d = 5B2Ah
Accelerations for position follower
Setting range (min. value | unit | max. value)
-214748.3647 units/s2 214748.3647
Subcodes Lenze setting Information
C01237/1 720.0000 units/s2 PosFollower: sync. accel. • Acceleration for ramp-up to synchronisation speed.
C01237/2 720.0000 units/s2 PosFollower: sync. decel. • Deceleration for synchronisation speed ramp-down
to standstill (to the setpoint position of the master).
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01238 | MCK: S-ramp times followerData type: UNSIGNED_16
Index: 23337d = 5B29h
S-ramp times for position follower • Setting "0 s" ≡ no rounding
Setting range (min. value | unit | max. value)
0.000 s 10.000
Subcodes Lenze setting Information
C01238/1 0.000 s PosFollower: sync. S-ramp time • S-ramp time for the synchronisation speed ramps.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C01239 | MCK: Interpolator cycle PosFollowerData type: UNSIGNED_32
Index: 23336d = 5B28h
Interpolator cycle for position follower • Cycle time for the position interpolation of the position from the master.
Setting range (min. value | unit | max. value) Lenze setting
0.000 ms 60.000 0.000 ms
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
8400 HighLine C | Software ManualParameter referenceParameter list | C01240
836 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01240Parameter | Name:
C01240 | MCK: Control wordData type: UNSIGNED_32
Index: 23335d = 5B27h
Bit-coded status of the MCK control word • The MCK control word is used to control the functions of the MotionControlKernel.
Display range (min. hex value | max. hex value)
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 OpMode_Bit0 Active operating mode - control bit 0
Bit 1 OpMode_Bit1 Active operating mode - control bit 1
Bit 2 OpMode_Bit2 Active operating mode - control bit 2
Bit 3 OpMode_Bit3 Active operating mode - control bit 4
Bit 4 ManJogPos Control bit for manual jog in positive direction
Bit 5 ManJogNeg Control bit for manual jog in negative direction
Bit 6 ManExecute2ndSpeed Control bit for activation of second manual speed
Bit 7 ReleaseLimitSwitch Control bit for retracting the hardware limit positions
Bit 8 HomStartStop Control bit for start/stop homing
Bit 9 HomSetPos Control bit for setting of home position • "0->1" ≡ sets position setpoint and actual position
value to the home position at the MCK. • This function is independent of the operating modes.
Bit 10 HomResetPos Control bit for reset of home position • "0->1" ≡ resets the information bit for the status
"Home position known" (home position not known). • The position displays are not influenced by this.
Bit 11 EnableSpeedOverride Control bit for activation of speed override • "1" ≡ activation of the override speed at the MCK for
acceptance in a running speed profile.
Bit 12 EnableAccOverride Control bit for activation of acceleration override • "1" ≡ activation of the override acceleration at the
MCK for acceptance in a running speed profile.
Bit 13 DisableS_Shape Control bit for deactivation of S-shaping for speed profiles • "1" ≡ deactivates S-shaping for speed profiles
Bit 14 PosTeachSetPos Control bit for accepting the selected setpoint position in the selected profile • "0->1" ≡ accepts the setpoint position at the MCK in
the profile with the profile number defined via the MCK control word.
Bit 15 PosTeachActPos Control bit for accepting the current actual position in the selected profile • "0->1" ≡ accepts the current actual position in the
profile with the profile number defined via the MCK control word.
Bit 16 PosExecute Control bit for starting a positioning profile • "0->1" ≡ starts a positioning profile selected via the
control word in the "Positioning" mode.
Bit 17 PosFinishTarget Control bit for completing processing of an interrupted positioning profile • "0->1" ≡ processing of a positioning profile which has
already been started and has been interrupted because of a cancellation condition or a change of the operating mode is completed in the "Positioning" mode when the home position is known.
• Note: Completion of profile processing through this control is based on the target position detected at the profile start!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 837
8400 HighLine C | Software ManualParameter reference
Parameter list | C01240
Bit 18 PosDisableFollowProfile Control bit for suppression of the sequence profile • "1" ≡ positioning profiles the profile numbers of
which are entered in profile data sets for sequence profiles are not started after comletion of the corresponding profile.
Bit 19 PosStop Control bit for stopping the positioning profile • "0->1" ≡ ("Positioning" mode): Interrupts a running
profile through deceleration along the set deceleration ramp to standstill.
• "0->1" ≡ ("Stop" mode): Starts a new deceleration to standstill with the parameterised stop ramp.
Bit 20 PosModeBit0 Active positioning mode - control bit 0
Bit 21 PosModeBit1 Active positioning mode - control bit 1
Bit 22 PosModeBit2 Active positioning mode - control bit 2
Bit 23 PosModeBit3 Active positioning mode - control bit 3
Bit 24 ProfileNo_Bit0 Active positioning profile number - control bit 0
Bit 25 ProfileNo_Bit1 Active positioning profile number - control bit 1
Bit 26 ProfileNo_Bit2 Active positioning profile number - control bit 2
Bit 27 ProfileNo_Bit3 Active positioning profile number - control bit 3
Bit 28 ProfileNo_Bit4 Active positioning profile number - control bit 4
Bit 29 ProfileNo_Bit5 Active positioning profile number - control bit 5
Bit 30 ProfileNo_Bit6 Active positioning profile number - control bit 6
Bit 31 ProfileNo_Bit7 Active positioning profile number - control bit 7
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C01240 | MCK: Control wordData type: UNSIGNED_32
Index: 23335d = 5B27h
8400 HighLine C | Software ManualParameter referenceParameter list | C01241
838 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01241Parameter | Name:
C01241 | MCK: Status wordData type: UNSIGNED_32
Index: 23334d = 5B26h
Bit-coded status of the MCK status word • The MCK status word is used to output status messages of the MotionControlKernel.
Display range (min. hex value | max. hex value)
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 ActOpModeBit00 Active operating mode - status bit 0
Bit 1 ActOpModeBit01 Active operating mode - status bit 1
Bit 2 ActOpModeBit02 Active operating mode - status bit 2
Bit 3 ActOpModeBit03 Active operating mode - status bit 4
Bit 4 Busy Status bit - profile generation active • "1" ≡ Internal profile generation is active. A speed
profile is being generated.
Bit 5 Done Status bit - profile generation completed • "1" ≡ Generation of a speed profile with the selected
position has been completed.
Bit 6 AcceleratingActive Status bit - acceleration process for profile generation active • "1" ≡ Profile generation phase is in the acceleration
process.
Bit 7 ConstSpeedDuty Status bit - constant speed for profile generation active • "1" ≡ Profile generation phase at constant speed
active.
Bit 8 DeceleratingActive Status bit - deceleration process for profile generation active • "1" ≡ Profile generation phase is in the deceleration
process.
Bit 9 S_ShapingActive Status bit - rounding for profile generation active • "1" ≡ Rounding during acceleration/deceleration
active.
Bit 10 Pos. HW limit detected Status bit - positive hardware limit detected • "1" ≡ Positive limit switch has triggered. • Reset only possible via"Manual jog" mode!
Bit 11 Neg. HW limit detected Status bit - negative hardware limit detected • "1" ≡ Negative limit switch has triggered. • Reset only possible via"Manual jog" mode!
Bit 12 HomPosDone Status bit - homing completed • "1" ≡ Homing has been completed.
Bit 13 HomPosAvailable Status bit - home position known • "1" ≡ The home position has been detected and is
known in the drive.
Bit 14 Reserved
Bit 15 Reserved
Bit 16 DwellTime Status bit - transient effects in target position active • "1" ≡ Dwell time after reaching the setpoint position
is active.
Bit 17 InTarget Status bit - actual position is in the target window • "1" ≡ Dwell time has expired and current actual
position is in the set target window.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 839
8400 HighLine C | Software ManualParameter reference
Parameter list | C01242
C01242
C01243
Bit 18 PosDone Status bit - positioning process completed • "1" ≡ Positioning profile has been completed in the
"Positioning" mode. Setpoint position is in target.
Bit 19 Reserved
Bit 20 ActPosMode_Bit00 Active positioning mode - status bit 0
Bit 21 ActPosMode_Bit01 Active positioning mode - status bit 1
Bit 22 ActPosMode_Bit02 Active positioning mode - status bit 2
Bit 23 ActPosMode_Bit03 Active positioning mode - status bit 3
Bit 24 ActProfileNo_Bit00 Active positioning profile - status bit 0
Bit 25 ActProfileNo_Bit01 Active positioning profile - status bit 1
Bit 26 ActProfileNo_Bit02 Active positioning profile - status bit 2
Bit 27 ActProfileNo_Bit03 Active positioning profile - status bit 3
Bit 28 ActProfileNo_Bit04 Active positioning profile - status bit 4
Bit 29 ActProfileNo_Bit05 Active positioning profile - status bit 5
Bit 30 ActProfileNo_Bit06 Active positioning profile - status bit 6
Bit 31 ActProfileNo_Bit07 Active positioning profile - status bit 7
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C01241 | MCK: Status wordData type: UNSIGNED_32
Index: 23334d = 5B26h
Parameter | Name:
C01242 | MCK: act. pos profile numberData type: UNSIGNED_8
Index: 23333d = 5B25h
Display of the current profile number of the active profile in the "Positioning" mode
Display range (min. value | unit | max. value)
0 255
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01243 | MCK: Current operating modeData type: UNSIGNED_8
Index: 23332d = 5B24h
Display of the active operating mode of the MotionControlKernel
Selection list (read only) Information
0 Speed follower Drive traverses according to a preselected speed setpoint
1 Homing Drive finds its reference measuring system by setting the home position or homing
2 ManualJog Drive can be traversed manually via initiators, e.g. for cleaning purposes or tool changes.
3 Positioning Drive traverses according to defined travel profiles and motion processes
4 Stop Drive is decelerated to standstill along a parameterised deceleration ramp
5 Position follower Drive traverses according to a preselected position setpoint
15 StandBy Internal operating mode for quick stop and pulse inhibit
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C01244
840 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01244
C01245
C01251
C01252
Parameter | Name:
C01244 | MCK: Target position detectionData type: UNSIGNED_16
Index: 23331d = 5B23h
As of version 02.00.00Time parameter for detecting the target position
Setting range (min. value | unit | max. value)
0 ms 60000
Subcodes Lenze setting Information
C01244/1 100 ms MCK: Dwell time - target position • Time expiring after reaching the setpoint position for
positioning processes and enabling the actual position detection in the target position window.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01245 | MCK: Target position detectionData type: INTEGER_32Index: 23330d = 5B22h
As of version 02.00.00Position parameter for comparison with target positions
Setting range (min. value | unit | max. value)
0.0000 units 214748.3647
Subcodes Lenze setting Information
C01245/1 1.0000 units MCK: Target position window • Window around the target position for comparison
with the actual position to see whether the drive is in target.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01251 | MCK: accelerations stopData type: INTEGER_32Index: 23324d = 5B1Ch
Acceleration parameter for stop
Setting range (min. value | unit | max. value)
-214748.3647 units/s2 214748.3647
Subcodes Lenze setting Information
C01251/1 720.0000 units/s2 Stop: decel. • Deceleration for setpoint speed ramp-down to
standstill.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01252 | MCK: S-ramp times stopData type: UNSIGNED_16
Index: 23323d = 5B1Bh
S-ramp times for stop • Setting "0 s" ≡ no rounding
Setting range (min. value | unit | max. value)
0.000 s 10.000
Subcodes Lenze setting Information
C01252/1 0.000 s Stop: S-ramp time • S-ramp time for setpoint speed ramp-down to
standstill.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 841
8400 HighLine C | Software ManualParameter reference
Parameter list | C01297
C01297
C01298
Parameter | Name:
C01297 | Alternative function PosExecuteData type: UNSIGNED_8
Index: 23278d = 5AEEh
Selection of the alternative function for bit 16 (PosExecute) in the MCK control word
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x03 (decimal: 3)
Value is bit-coded: ( = bit set) Information
Bit 0 PosStop with PosExecute = FALSE "1" ≡ Stop positioning with PosExecute • PosExecute="0" stops a running positioning process
by ramp-down to standstill.
Bit 1 HomingStartStop with PosExecute "1" ≡ Start/stop homing with PosExecute • PosExecute="1" starts homing, PosExecute="0" stops
homing in the "Homing" mode.
Bit 2 SetProfilPosition with PosExecute "1" ≡ Teach set position with PosExecute • PosExecute="0->1" accepts the setpoint position at
the MCK in the profile with the specified profile number.
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C01298 | MCK change of operating mode with profile no.Data type: UNSIGNED_8
Index: 23277d = 5AEDh
FB L_MckCtrlInterface_1: Assigning an operating mode to a profile
Selection list Information
0 No change No change to another operating mode of the MCK
1 Follower Change to the "Speed follower" mode
2 Homing Change to the "Homing" mode
3 ManualJog Change to the "Manual jog" mode
4 Positioning Change to the "Positioning" mode
Subcodes Lenze setting Information
C01298/1 1: Follower MCK operating mode for profile no 0 • Selection of the operating mode for profile 0 at
L_MckCtrlInterface_1.
C01298/2 2: Homing MCK operating mode for profile no 1 • Selection of the operating mode for profile 1 at
L_MckCtrlInterface_1.
C01298/3 3: ManualJog MCK operating mode for profile no 2 • Selection of the operating mode for profile 2 at
L_MckCtrlInterface_1.
C01298/4 4: Positioning MCK operating mode for profile no 3...15 • Selection of the operating mode for profile 3 ... 15 at
L_MckCtrlInterface_1.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C01299
842 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01299
C01300
C01301
Parameter | Name:
C01299 | MCKI: MCKInterface statusData type: UNSIGNED_8
Index: 23276d = 5AECh
FB L_MckCtrlInterface_1: Status messages
Display range (min. hex value | max. hex value)
0x00 0xFF
Value is bit-coded: Information
Bit 0 InvalidOperationMode Invalid operating mode selection • "1" ≡ The selected operating mode is not defined/
invalid.
Bit 1 InvalidPosMode Invalid positioning mode selection • "1" ≡ The selected positioning mode is not defined/
invalid.
Bit 2 InvalidProfileNo Invalid profile number selection • "1" ≡ The selected profile number refers to a profile
data set that does not exist.
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C01300 | Profile data: Positioning modeData type: UNSIGNED_8
Index: 23275d = 5AEBh
Selection of the positioning mode for profiles 1 ... 15
Selection list Information
1 Absolute (shortest path) Absolute positioning • The profile position corresponds to the target
position.
2 Continuous Continuous positioning without approaching a target position
3 Relative Relative positioning • The profile position determines the distance to be
traversed.
Subcodes Lenze setting Information
C01300/1 1: absolute (beeline) Profiles 1 ... 15: Positioning mode
C01300/...
C01300/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01301 | Profile data: PositionData type: INTEGER_32Index: 23274d = 5AEAh
Selection of the positions for profiles 1 ... 15
Setting range (min. value | unit | max. value)
-214748.3647 unit 214748.3647
Subcodes Lenze setting Information
C01301/1 360.0000 unit Profiles 1 ... 15: Position
C01301/...
C01301/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 843
8400 HighLine C | Software ManualParameter reference
Parameter list | C01302
C01302
C01303
C01304
C01305
Parameter | Name:
C01302 | Profile data: SpeedData type: INTEGER_32Index: 23273d = 5AE9h
Selection of the maximum speeds for profiles 1 ... 15
Setting range (min. value | unit | max. value)
-214748.3647 unit/s 214748.3647
Subcodes Lenze setting Information
C01302/1 360.0000 unit/s Profiles 1 ... 15: Speed
C01302/...
C01302/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01303 | Profile data: AccelerationData type: INTEGER_32Index: 23272d = 5AE8h
Selection of the accelerations for profiles 1 ... 15
Setting range (min. value | unit | max. value)
-214748.3647 unit/s2 214748.3647
Subcodes Lenze setting Information
C01303/1 720.0000 unit/s2 Profiles 1 ... 15: Acceleration
C01303/...
C01303/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01304 | Profile data: DecelerationData type: INTEGER_32Index: 23271d = 5AE7h
Selection of the decelerations for profiles 1 ... 15
Setting range (min. value | unit | max. value)
-214748.3647 unit/s2 214748.3647
Subcodes Lenze setting Information
C01304/1 720.0000 unit/s2 Profiles 1 ... 15: Deceleration
C01304/...
C01304/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
Parameter | Name:
C01305 | Profile data: Final speedData type: INTEGER_32Index: 23270d = 5AE6h
Selection of the final speeds for profiles 1 ... 15 • For profile linkage with overchange.
Setting range (min. value | unit | max. value)
-214748.3647 unit/s 214748.3647
Subcodes Lenze setting Information
C01305/1 0.0000 unit/s Profiles 1 ... 15: Final speed
C01305/...
C01305/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 10000
8400 HighLine C | Software ManualParameter referenceParameter list | C01306
844 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01306
C01307
C01501
Parameter | Name:
C01306 | Profile data: S-ramp timeData type: UNSIGNED_16
Index: 23269d = 5AE5h
Selection of the S-ramp times for profiles 1 ... 15 • The maximum S-ramp time is the time in which the maximum acceleration or the maximum deceleration is
reached along a ramp (jerk limitation).
Setting range (min. value | unit | max. value)
0.000 s 10.000
Subcodes Lenze setting Information
C01306/1 0.000 s Profiles 1 ... 15: S-ramp time
C01306/...
C01306/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Parameter | Name:
C01307 | Profile data: Sequence profileData type: UNSIGNED_8
Index: 23268d = 5AE4h
Selection of the sequence profile numbers for profiles 1 ... 15 • For profile linkage
Setting range (min. value | unit | max. value)
0 15
Subcodes Lenze setting Information
C01307/1 0 Profiles 1 ... 15: Sequence profile
C01307/...
C01307/15
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01501 | Resp. to communication error with MCIData type: UNSIGNED_8
Index: 23074d = 5A22h
Configuration of monitoring functions for the communication module
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
Subcodes Lenze setting Information
C01501/1 0: No Reaction Resp. to MCI error 1 • Response to a communication error of the attached
communication module.
C01501/2 0: No Reaction Resp. to MCI error 2 • Response to a missing or incompatible
communication module.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 845
8400 HighLine C | Software ManualParameter reference
Parameter list | C01670
C01670
C01671
C01672
Parameter | Name:
C01670 | L_ComparePhi: FunctionData type: UNSIGNED_8
Index: 22905d = 5979h
FB L_ComparePhi_1-5: Selection of the comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.
Selection list
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
Subcodes Lenze setting Information
C01670/1 1: In1 = In2 L_ComparePhi_1: Function
C01670/2 1: In1 = In2 L_ComparePhi_2: Function
C01670/3 1: In1 = In2 L_ComparePhi_3: Function
C01670/4 1: In1 = In2 L_ComparePhi_4: Function
C01670/5 1: In1 = In2 L_ComparePhi_5: Function
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01671 | L_ComparePhi: HysteresisData type: INTEGER_32Index: 22904d = 5978h
FB L_ComparePhi_1-5: Hysteresis for the comparison function
Setting range (min. value | unit | max. value)
0 incr 1073741824
Subcodes Lenze setting Information
C01671/1 0 incr L_ComparePhi_1: Hysteresis
C01671/2 0 incr L_ComparePhi_2: Hysteresis
C01671/3 0 incr L_ComparePhi_3: Hysteresis
C01671/4 0 incr L_ComparePhi_4: Hysteresis
C01671/5 0 incr L_ComparePhi_5: Hysteresis
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01672 | L_ComparePhi: WindowData type: INTEGER_32Index: 22903d = 5977h
FB L_ComparePhi_1-5: Window for the comparison function
Setting range (min. value | unit | max. value)
0 incr 1073741824
Subcodes Lenze setting Information
C01672/1 0 incr L_ComparePhi_1: Window
C01672/2 0 incr L_ComparePhi_2: Window
C01672/3 0 incr L_ComparePhi_3: Window
C01672/4 0 incr L_ComparePhi_4: Window
C01672/5 0 incr L_ComparePhi_5: Window
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
8400 HighLine C | Software ManualParameter referenceParameter list | C01751
846 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C01751
C01752
C01755
C01763
C01764
C01765
C01770
C01902
Parameter | Name:
C01751 | Service code inverter charact.Data type: UNSIGNED_8
Index: 22824d = 5928h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01752 | Service par. - TCR functionData type: UNSIGNED_8
Index: 22823d = 5927h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01755 | Service par. - TCR factorData type: INTEGER_16Index: 22820d = 5924h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01763 | Service code - clamp thresholdData type: INTEGER_16Index: 22812d = 591Ch
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01764 | Service par. - clamp timeData type: UNSIGNED_8
Index: 22811d = 591Bh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01765 | Service code - difference threshold UGData type: UNSIGNED_16
Index: 22810d = 591Ah
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01770 | Filter time - earth fault detect. is runningData type: UNSIGNED_8
Index: 22805d = 5915h
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C01902 | Diagnostics X6: max. baud rateData type: UNSIGNED_16
Index: 22673d = 5891h
Maximally permissible baud rate in the standard device after determination of the baud rate at the diagnostic interface X6
Selection list (Lenze setting printed in bold)
192 19.200 Bd
384 38.400 Bd
576 57.600 Bd
750 75.000 Bd
1152 115.200 Bd
1500 150.000 Bd
2500 250.000 Bd
3750 375.000 Bd
7500 750.000 Bd
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 847
8400 HighLine C | Software ManualParameter reference
Parameter list | C01903
C01903
C01905
C02580
C02581
Parameter | Name:
C01903 | Diagnostics X6: change baud rateData type: UNSIGNED_8
Index: 22672d = 5890h
New baud rate determination at the diagnostic interface X6
Selection list (Lenze setting printed in bold)
0 Ignore changes
1 Negotiate baud rate
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C01905 | Diagnostics X6: act. baud rateData type: UNSIGNED_32
Index: 22670d = 588Eh
Current baud rate at the diagnostic interface X6
Display range (min. value | unit | max. value)
0 Bd 3000000
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C02580 | Holding brake: Operating modeData type: UNSIGNED_8
Index: 21995d = 55EBh
Selection of the operating mode for holding brake controlBasic function "Holding brake control"
Selection list (Lenze setting printed in bold) Information
0 Brake control off No holding brake is used. The internal control system is switched off.
11 Manually controlled The holding brake is released and applied via a control bit in the MCK control word.
12 Autom. controlled The holding brake is released and applied automatically via speed setpoint comparisons.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C02581 | Holding brake: Speed thresholdData type: INTEGER_16Index: 21994d = 55EAh
Speed setpoint threshold and hysteresis for automatic holding brake controlBasic function "Holding brake control"
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C02581/1 5.00 % Holding brake: switching threshold • Switching threshold of the speed setpoint from which
on the holding brake is released/applied automatically.
C02581/2 1.00 % Holding brake: hyst.release • Hysteresis for holding brake release. • Release threshold = switching threshold + release
hysteresis
C02581/3 1.00 % Holding brake: hyst. close • Hysteresis for holding brake application. • Application threshold = switching threshold -
application hysteresis
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C02582
848 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C02582Parameter | Name:
C02582 | Holding brake: SettingData type: UNSIGNED_8
Index: 21993d = 55E9h
Activation of functional holding brake control optionsBasic function "Holding brake control"
Setting range (min. hex value | max. hex value) Lenze setting
0x00 0xFF 0x00 (decimal: 0)
Value is bit-coded: ( = bit set) Information
Bit 0 Control inverted Activation of inverted control • "1" ≡ Inverted logic of trigger signal for holding brake
control switching element
Bit 1 nAct < nMin at CInh Brake response in case of pulse inhibit • "1" ≡ With pulse inhibit, the actual speed value is
monitored. The holding brake is applied when the actual speed reaches the "Application" threshold value.
• Note: This function is used to avoid the wear of the holding brake of a drive with horizontal travel path when the controller is inhibited and rotation occurs.
Bit 2 Inverted feedforward control Precontrol inversion • "1" ≡ The direction of the precontrol value before
setting the release signal of the holding brake is inverted.
Bit 3 Horizontal/winding technology Direction of the axis • "1" ≡ The direction of the axis is horizontal or rotary.
The gravitational acceleration does not cause any movement.
• "0" ≡ The direction of the axis is vertical. The gravitational acceleration does not cause any movement.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 849
8400 HighLine C | Software ManualParameter reference
Parameter list | C02589
C02589
C02593
Parameter | Name:
C02589 | Holding brake: Time systemData type: UNSIGNED_16
Index: 21986d = 55E2h
Operating times of the holding brake • The electromechanical delay times of the holding brake are specified in the data sheets or on the holding brake
nameplate.Basic function "Holding brake control"
Setting range (min. value | unit | max. value)
0 ms 60000
Subcodes Lenze setting Information
C02589/1 100 ms Holding brake: closing time • Time in which the holding brake is completely applied
from the beginning of control and in which the controller is inhibted.
C02589/2 100 ms Holding brake: release time • Time in which the holding brake is completely
released from the beginning of control.
C02589/3 100 ms Holding brake: waiting time status • Time after which all transient reactions are
completed and the switching status of the holding brake is stable. Beginning of monitoring the feedback signal for the switching status of the holding brake.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C02593 | Holding brake: Activation timeData type: UNSIGNED_32
Index: 21982d = 55DEh
Time parameter for the delay of holding brake control control signalsBasic function "Holding brake control"
Setting range (min. value | unit | max. value)
0.000 s 3600.000
Subcodes Lenze setting Information
C02593/1 0.000 s Holding brake: actual value monitoring • Time in which the actual value shall have reached the
threshold for brake application when the setpoint has already reached the threshold.
• Time > 0 s: If the actual speed value has not reached the threshold within the time for brake application, the holding brake is applied by control.
• Time = 0 s: The brake is only applied by control when the actual speed has reached the application threshold.
C02593/2 0.000 s Holding brake: application delay • Time by which the control process for holding brake
application is delayed. The time expires when the speed setpoint has reached the switching threshold for application.
• With positioning processes, a continuous application and release of the holding brake can thus be suppressed for the set time.
C02593/3 0.000 s Holding brake: reserved
C02593/4 0.000 s Holding brake: reserved
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
8400 HighLine C | Software ManualParameter referenceParameter list | C02607
850 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C02607
C02610
Parameter | Name:
C02607 | Holding brake: statusData type: UNSIGNED_16
Index: 21968d = 55D0h
Switching status of the holding brake controlBasic function "Holding brake control"
Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 Brake closed Holding brake is completely applied
Bit 1 Brake released Holding brake is completely released
Bit 2 Feedforward control active Feedforward control for holding of the load via the motor is active before the holding brake releases.
Bit 3 Closing active The brake application time (C02589/1) expires
Bit 4 Forced release active In case of automatic operation of the holding brake control, the brake is directly released via the MCK input bBrkRelease = TRUE
Bit 5 Release active The brake application time (C02589/2) expires
Bit 6 Setpoint synchronisation active A speed setpoint at the MCK is approached along a defined ramp after brake release
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Read access Write access CINH PLC STOP No transfer COM MOT
Parameter | Name:
C02610 | MCK: Accel./decel. timesData type: UNSIGNED_32
Index: 21965d = 55CDh
Ramp times for speed setpoint synchronisation
Setting range (min. value | unit | max. value)
0.000 s 999.999
Subcodes Lenze setting Information
C02610/1 2.000 s MCK: holding brake ramp time synchr. • Ramp time for approaching the speed setpoint at the
MCK after holding brake release.Basic function "Holding brake control"
C02610/2 2.000 s MCK: Setpoint - ramp time synchronisation • Time for synchronisation ramps between setpoint
jumps occurring through the exceedance of minimum and maximum speed setpoint limit ranges.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 851
8400 HighLine C | Software ManualParameter reference
Parameter list | C02611
C02611Parameter | Name:
C02611 | MCK: LimitationsData type: INTEGER_16Index: 21964d = 55CCh
Speed setpoint limits for the determination of limited validity ranges
Note:Traversing with setpoints through arising blocking zones takes place along the ramp set in C02610/2.
Setting range (min. value | unit | max. value)
0.00 % 199.99
Subcodes Lenze setting Information
C02611/1 199.99 % MCK: Pos. max. speed • Upper limit of the speed setpoint limitation in
positive direction of rotation.
C02611/2 0.00 % MCK: Pos. min. speed • Lower limit of the speed setpoint limitation in
positive direction of rotation.
C02611/3 0.00 % MCK: Neg. min. speed • Lower limit of the speed setpoint limitation in
negative direction of rotation.
C02611/4 199.99 % MCK: Neg. max. speed • Upper limit of the speed setpoint limitation in
negative direction of rotation.
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C02830
852 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C02830Parameter | Name:
C02830 | DIx: Debounce timeData type: UNSIGNED_8
Index: 21745d = 54F1h
Debounce times for the digital inputsI/O terminals
Selection list
0 0.00 ms
1 0.25 ms
2 0.50 ms
3 0.75 ms
4 1.00 ms
5 1.25 ms
6 1.50 ms
7 1.75 ms
8 2.00 ms
10 2.50 ms
12 3.00 ms
14 3.50 ms
16 4.00 ms
18 4.50 ms
20 5.00 ms
22 5.50 ms
24 6.00 ms
28 7.00 ms
32 8.00 ms
36 9.00 ms
40 10.0 ms
44 11.0 ms
48 12.0 ms
52 13.0 ms
56 14.0 ms
64 16.0 ms
72 18.0 ms
80 20.0 ms
88 22.0 ms
96 24.0 ms
104 26.0 ms
112 28.0 ms
120 30.0 ms
128 32.0 ms
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 853
8400 HighLine C | Software ManualParameter reference
Parameter list | C02840
C02840
C02841
C02842
Subcodes Lenze setting Information
C02830/1 1 ms: 0.25 DI1: debounce time
C02830/2 1 ms: 0.25 DI2: debounce time
C02830/3 1 ms: 0.25 DI3: debounce time
C02830/4 1 ms: 0.25 DI4: debounce time
C02830/5 1 ms: 0.25 DI5: Debounce time
C02830/6 1 ms: 0.25 DI6: Debounce time
C02830/7 1 ms: 0.25 DI7: Debounce time
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C02830 | DIx: Debounce timeData type: UNSIGNED_8
Index: 21745d = 54F1h
Parameter | Name:
C02840 | CountIn: ParameterData type: UNSIGNED_32
Index: 21735d = 54E7h
Starting and comparison values for digital count inputsI/O terminals
Setting range (min. value | unit | max. value)
0 incr 2147483647
Subcodes Lenze setting Information
C02840/1 0 incr CountIn1: starting value
C02840/2 65535 incr CountIn1: comp. value
C02840/3 0 incr CountIn6: starting value
C02840/4 65535 incr CountIn6: comp. value
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C02841 | CountInx: Counter contentData type: UNSIGNED_32
Index: 21734d = 54E6h
Display of the current counter content of the digital count inputsI/O terminals
Display range (min. value | unit | max. value)
0 incr 2147483647
Subcodes Information
C02841/1 CountIn1: counter content
C02841/2 CountIn6: counter content
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter | Name:
C02842 | FreqInxx: OffsetData type: INTEGER_16Index: 21733d = 54E5h
Offset for digital frequency inputsI/O terminals
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C02842/1 0.00 % FreqIn12: offset
C02842/2 0.00 % FreqIn67: offset
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
8400 HighLine C | Software ManualParameter referenceParameter list | C02843
854 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C02843
C02994
C02995
C02996
Parameter | Name:
C02843 | FreqInxx: GainData type: INTEGER_16Index: 21732d = 54E4h
Gain for digital frequency inputsI/O terminals
Setting range (min. value | unit | max. value)
-199.99 % 199.99
Subcodes Lenze setting Information
C02843/1 100.00 % FreqIn12: gain
C02843/2 100.00 % FreqIn67: gain
Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 100
Parameter | Name:
C02994 | FB xy positionData type: UNSIGNED_32
Index: 21581d = 544Dh
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C02995 | FB display input/outputData type: UNSIGNED_32
Index: 21580d = 544Ch
This code is for device-internal use only and must not be written to by the user!
Parameter | Name:
C02996 | FB display input output2Data type: UNSIGNED_32
Index: 21579d = 544Bh
This code is for device-internal use only and must not be written to by the user!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 855
8400 HighLine C | Software ManualParameter reference
Table of attributes
17.3 Table of attributes
The table of attributes contains information required for a communication with thecontroller via parameters.
How to read the table of attributes:
Column Meaning Entry
Code Parameter designation Cxxxxx
Name Parameter short text (display text) Text
Index dec Index under which the parameter is addressed.The subindex for array variables corresponds to the Lenze subcode number.
24575 - Lenze code number Is only required for access via a bus system.
hex 5FFFh - Lenze code number
Data DS Data structure E Single variable (only one parameter element)
A Array variable(several parameter elements)
DA Number of array elements (subcodes) Number
DT Data type BITFIELD_8 1 byte bit-coded
BITFIELD_16 2 byte bit-coded
BITFIELD_32 4 byte bit-coded
INTEGER_8 1 byte with sign
INTEGER_16 2 byte with sign
INTEGER_32 4 byte with sign
UNSIGNED_8 1 byte without sign
UNSIGNED_16 2 byte without sign
UNSIGNED_32 4 byte without sign
VISIBLE_STRING ASCII string
Factor Factor for data transfer via a bus system, depending on the number of decimal positions
Factor 1 ≡ no decimal positions10 ≡ 1 decimal position100 ≡ 2 decimal positions1000 ≡ 3 decimal positions
Access R Read access Reading permitted
w Write access Writing permitted
CINH Controller inhibit required Writing is only possible if controller inhibit is set
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
C00002 Controller commands 24573 5FFD A 32 UNSIGNED_8 1
C00003 Status of the last device command 24572 5FFC E 1 UNSIGNED_8 1
C00005 Application selection 24570 5FFA E 1 UNSIGNED_16 1
C00006 Select motor control 24569 5FF9 E 1 UNSIGNED_8 1
C00007 Select control mode 24568 5FF8 E 1 UNSIGNED_16 1
C00008 Original application|Control source 24567 5FF7 E 1 UNSIGNED_16 1
C00011 Appl.: Reference speed 24564 5FF4 E 1 UNSIGNED_16 1
C00012 Accel. time - main setpoint 24563 5FF3 E 1 UNSIGNED_32 1000
C00013 Decel. time - main setpoint 24562 5FF2 E 1 UNSIGNED_32 1000
C00015 VFC: V/f base frequency 24560 5FF0 E 1 UNSIGNED_16 10
C00016 VFC: Vmin boost 24559 5FEF E 1 UNSIGNED_16 100
C00018 Switching frequency 24557 5FED E 1 UNSIGNED_8 1
C00019 Auto-DCB: Threshold 24556 5FEC E 1 UNSIGNED_16 1
C00021 Slip comp. 24554 5FEA E 1 INTEGER_16 100
C00022 Imax in motor mode 24553 5FE9 E 1 UNSIGNED_16 100
C00023 Imax in generator mode 24552 5FE8 E 1 INTEGER_16 100
C00024 Comparison value N_Act 24551 5FE7 E 1 INTEGER_16 100
8400 HighLine C | Software ManualParameter referenceTable of attributes
856 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00026 AINx: Offset 24549 5FE5 A 2 INTEGER_16 100
C00027 AINx: Gain 24548 5FE4 A 2 INTEGER_32 10000
C00028 AINx: Input voltage 24547 5FE3 A 2 INTEGER_16 100
C00029 AINx: Input current 24546 5FE2 A 2 INTEGER_16 100
C00033 AINx: Output value 24542 5FDE A 2 INTEGER_16 100
C00034 AINx: Configuration 24541 5FDD A 2 UNSIGNED_8 1
C00036 DCB: current 24539 5FDB E 1 INTEGER_16 100
C00039 Fixed setpoint x (L_NSet_1 n-Fix) 24536 5FD8 A 15 INTEGER_16 100
C00050 MCTRL: Speed setpoint 24525 5FCD E 1 INTEGER_32 1
C00051 MCTRL: Actual speed value 24524 5FCC E 1 INTEGER_32 1
C00052 Motor voltage 24523 5FCB E 1 UNSIGNED_16 1
C00053 DC-bus voltage 24522 5FCA E 1 UNSIGNED_16 1
C00054 Motor current 24521 5FC9 E 1 UNSIGNED_16 100
C00056 Torque 24519 5FC7 A 2 INTEGER_32 100
C00057 Maximum torque 24518 5FC6 E 1 UNSIGNED_32 100
C00058 Output frequency 24517 5FC5 E 1 INTEGER_32 100
C00059 Appl.: Reference frequency C11 24516 5FC4 E 1 UNSIGNED_32 100
C00061 Heatsink temperature 24514 5FC2 E 1 INTEGER_16 1
C00064 Device utilisation (Ixt) 24511 5FBF A 3 INTEGER_16 100
C00065 Supply voltage 24V 24510 5FBE E 1 INTEGER_16 10
C00066 Thermal motor load (I²xt) 24509 5FBD E 1 INTEGER_16 100
C00070 Vp speed controller 24505 5FB9 A 2 UNSIGNED_16 100
C00071 Ti speed controller 24504 5FB8 A 2 UNSIGNED_16 10
C00072 SC: Tdn speed controller 24503 5FB7 E 1 UNSIGNED_16 100
C00073 Imax/M controller gain 24502 5FB6 A 2 UNSIGNED_16 100
C00074 Imax/M controller reset time 24501 5FB5 A 2 UNSIGNED_16 1
C00075 Vp current controller 24500 5FB4 E 1 UNSIGNED_16 100
C00076 Ti current controller 24499 5FB3 E 1 UNSIGNED_16 100
C00077 SC: Vp field controller 24498 5FB2 E 1 UNSIGNED_16 100
C00078 SC: Tn field controller 24497 5FB1 E 1 UNSIGNED_16 10
C00079 SC: Settings 24496 5FB0 A 3 UNSIGNED_8 1
C00080 Override point of field weakening 24495 5FAF E 1 INTEGER_16 1
C00081 Rated motor power 24494 5FAE E 1 UNSIGNED_16 100
C00082 Motor rotor resistance 24493 5FAD E 1 UNSIGNED_32 1
C00083 Motor rotor time constant 24492 5FAC E 1 UNSIGNED_16 1
C00084 Motor stator resistance 24491 5FAB E 1 UNSIGNED_32 1
C00085 Motor stator leakage inductance 24490 5FAA E 1 UNSIGNED_16 100
C00087 Rated motor speed 24488 5FA8 E 1 UNSIGNED_16 1
C00088 Rated motor current 24487 5FA7 E 1 UNSIGNED_16 100
C00089 Rated motor frequency 24486 5FA6 E 1 UNSIGNED_16 1
C00090 Rated motor voltage 24485 5FA5 E 1 UNSIGNED_16 1
C00091 Motor cosine phi 24484 5FA4 E 1 UNSIGNED_8 100
C00092 Motor magnetizing inductance 24483 5FA3 E 1 UNSIGNED_16 10
C00093 Power section ID 24482 5FA2 E 1 UNSIGNED_16 1
C00095 Motor magnetising current 24480 5FA0 E 1 UNSIGNED_16 100
C00097 Rated motor torque 24478 5F9E E 1 UNSIGNED_32 100
C00098 Rated device current 24477 5F9D E 1 UNSIGNED_16 10
C00099 Firmware version 24476 5F9C E 1 VISIBLE_STRING
C00100 Firmware version 24475 5F9B A 4 UNSIGNED_8 1
C00101 Add. acceleration time x 24474 5F9A A 15 UNSIGNED_32 1000
C00103 Add. deceleration time x 24472 5F98 A 15 UNSIGNED_32 1000
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 857
8400 HighLine C | Software ManualParameter reference
Table of attributes
C00105 Deceleration time - quick stop 24470 5F96 E 1 UNSIGNED_32 1000
C00106 Auto-DCB: hold time 24469 5F95 E 1 UNSIGNED_32 1000
C00107 DCB: hold time 24468 5F94 E 1 UNSIGNED_32 1000
C00114 DI polarity 24461 5F8D E 1 UNSIGNED_16
C00115 Fct. DI 1/2 & 6/7 24460 5F8C A 2 UNSIGNED_8 1
C00117 Status - brake output BD 24458 5F8A E 1 UNSIGNED_8 1
C00118 DOx inversion 24457 5F89 E 1 UNSIGNED_8
C00120 Motor overload threshold (I²xt) 24455 5F87 E 1 INTEGER_16 100
C00123 Device utilisat. threshold (Ixt) 24452 5F84 E 1 INTEGER_16 100
C00129 Brake resistance value 24446 5F7E E 1 UNSIGNED_16 10
C00130 Rated brake resistor power 24445 5F7D E 1 UNSIGNED_16 1
C00131 Thermal capacity of brake resistor 24444 5F7C E 1 UNSIGNED_16 10
C00133 Brake resistor utilisation 24442 5F7A E 1 UNSIGNED_16 1
C00134 Ramp rounding - main setpoint 24441 5F79 E 1 UNSIGNED_8 1
C00136 Communication control words 24439 5F77 A 2 UNSIGNED_16
C00137 Device state 24438 5F76 E 1 UNSIGNED_16 1
C00138 Internal control signal 24437 5F75 A 3 UNSIGNED_16
C00142 Auto-start option 24433 5F71 E 1 UNSIGNED_8
C00144 Switching freq. reduct. (temp.) 24431 5F6F E 1 UNSIGNED_8 1
C00150 Status word 24425 5F69 E 1 UNSIGNED_16
C00155 Status word 2 24420 5F64 E 1 UNSIGNED_16
C00158 Cause of controller inhibit 24417 5F61 E 1 UNSIGNED_16
C00159 Cause of quick stop QSP 24416 5F60 E 1 UNSIGNED_16
C00161 LS_SetError_x: Error number 24414 5F5E A 8 UNSIGNED_16 1
C00163 Logbook - binary elements 24412 5F5C A 2 UNSIGNED_16 1
C00164 Logbook - analog elements 24411 5F5B A 1 UNSIGNED_16 1
C00165 Error information 24410 5F5A A 2 VISIBLE_STRING
C00166 Error information text 24409 5F59 A 6 VISIBLE_STRING
C00168 Status-determining error 24407 5F57 E 1 UNSIGNED_32 1
C00169 Logbook setting 24406 5F56 E 1 UNSIGNED_16
C00170 Current error 24405 5F55 E 1 UNSIGNED_32 1
C00173 Mains voltage 24402 5F52 E 1 UNSIGNED_8 1
C00174 Reduced brake chopper threshold 24401 5F51 E 1 UNSIGNED_8 1
C00175 Response for brake resistor control 24400 5F50 E 1 UNSIGNED_8 1
C00177 Switching cycles 24398 5F4E A 5 UNSIGNED_32 1
C00178 Elapsed-hour meter 24397 5F4D E 1 UNSIGNED_32 1
C00179 Power-on time meter 24396 5F4C E 1 UNSIGNED_32 1
C00180 Running time 24395 5F4B A 3 UNSIGNED_32 1
C00182 S-ramp time PT1 24393 5F49 E 1 INTEGER_16 100
C00184 AutoFailReset repetition time 24391 5F47 E 1 UNSIGNED_16 1
C00185 AutoFailReset residual runtime 24390 5F46 E 1 UNSIGNED_16 1
C00186 Max. no. of AutoFailReset procedures 24389 5F45 E 1 UNSIGNED_8 1
C00187 Current AutoFailReset procedures 24388 5F44 E 1 UNSIGNED_8 1
C00188 Configuration AutoFailReset 24387 5F43 E 1 UNSIGNED_8 1
C00189 Resp. too frequent AutoFailReset 24386 5F42 E 1 UNSIGNED_8 1
C00190 Setpoint arithmetic 24385 5F41 E 1 UNSIGNED_8 1
C00200 Firmware product type 24375 5F37 E 1 VISIBLE_STRING
C00201 Firmware 24374 5F36 A 6 VISIBLE_STRING
C00203 Product type code 24372 5F34 A 9 VISIBLE_STRING
C00204 Serial number 24371 5F33 A 9 VISIBLE_STRING
C00220 Accel. time - add. setpoint 24355 5F23 E 1 UNSIGNED_32 1000
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
8400 HighLine C | Software ManualParameter referenceTable of attributes
858 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00221 Decel. time - add. setpoint 24354 5F22 E 1 UNSIGNED_32 1000
C00222 L_PCTRL_1: Vp 24353 5F21 E 1 INTEGER_16 10
C00223 L_PCTRL_1: Tn 24352 5F20 E 1 UNSIGNED_16 1
C00224 L_PCTRL_1: Kd 24351 5F1F E 1 UNSIGNED_16 10
C00225 L_PCTRL_1: MaxLimit 24350 5F1E E 1 INTEGER_16 100
C00226 L_PCTRL_1: MinLimit 24349 5F1D E 1 INTEGER_16 100
C00227 L_PCTRL_1: acceleration time 24348 5F1C E 1 UNSIGNED_32 1000
C00228 L_PCTRL_1: deceleration time 24347 5F1B E 1 UNSIGNED_32 1000
C00231 L_PCTRL_1: Operating range 24344 5F18 A 4 INTEGER_16 100
C00233 L_PCTRL_1: root function 24342 5F16 E 1 UNSIGNED_8 1
C00234 Oscillation damping influence 24341 5F15 E 1 UNSIGNED_16 100
C00235 Filter time - oscillation damping 24340 5F14 E 1 UNSIGNED_8 1
C00236 Oscillation damping - field weakening 24339 5F13 E 1 UNSIGNED_8 1
C00241 L_NSet_1: Hyst. NSet reached 24334 5F0E E 1 INTEGER_16 100
C00242 L_PCTRL_1: operating mode 24333 5F0D E 1 UNSIGNED_8 1
C00243 L_PCTRL_1: Acceleration time influence
24332 5F0C E 1 UNSIGNED_32 1000
C00244 L_PCTRL_1: Deceleration time influence
24331 5F0B E 1 UNSIGNED_32 1000
C00245 L_PCTRL_1: PID output value 24330 5F0A E 1 INTEGER_16 100
C00249 L_PT1_1: Time constant 24326 5F06 E 1 UNSIGNED_16 1
C00250 L_PT1 2-3: DelayTime 24325 5F05 A 2 INTEGER_16 1
C00251 L_DT1_1: DelayTime 24324 5F04 E 1 INTEGER_16 1
C00252 L_DT1_1: Gain 24323 5F03 E 1 INTEGER_16 100
C00253 L_DT1_1: Sensibility 24322 5F02 E 1 UNSIGNED_8 1
C00254 Kp position controller 24321 5F01 E 1 UNSIGNED_16 100
C00270 SC: Freq. current setpoint filter 24305 5EF1 E 1 UNSIGNED_16 10
C00271 SC: Width of the current setpoint filter 24304 5EF0 E 1 UNSIGNED_16 10
C00272 SC: Depth of the current setpoint filter 24303 5EEF E 1 UNSIGNED_16 1
C00273 Moment of inertia 24302 5EEE E 1 UNSIGNED_32 100
C00274 SC: Max. acceleration change 24301 5EED E 1 UNSIGNED_16 10
C00275 Setpoint precontrol filtering 24300 5EEC E 1 UNSIGNED_16 10
C00276 SC: max. output voltage 24299 5EEB E 1 UNSIGNED_8 1
C00280 SC: Filter time const. DC detect. 24295 5EE7 E 1 UNSIGNED_16 1
C00321 Main program runtime 24254 5EBE A 2 UNSIGNED_16 1
C00322 Transmission mode CAN TxPDOs 24253 5EBD A 3 UNSIGNED_8 1
C00323 Transmission mode CAN Rx PDOs 24252 5EBC A 3 UNSIGNED_8 1
C00338 L_Arithmetik_1: function 24237 5EAD E 1 UNSIGNED_8 1
C00339 L_Arithmetik_2: function 24236 5EAC E 1 UNSIGNED_8 1
C00345 CAN error status 24230 5EA6 E 1 UNSIGNED_8 1
C00347 CAN status HeartBeat producer 24228 5EA4 A 15 UNSIGNED_8 1
C00349 CAN setting - DIP switch 24226 5EA2 E 1 UNSIGNED_16
C00350 CAN node address 24225 5EA1 E 1 UNSIGNED_8 1
C00351 CAN baud rate 24224 5EA0 E 1 UNSIGNED_8 1
C00352 CAN Slave/Master 24223 5E9F E 1 UNSIGNED_8 1
C00353 CAN IN/OUT COBID source 24222 5E9E A 3 UNSIGNED_8 1
C00354 COBID 24221 5E9D A 6 UNSIGNED_32
C00355 Active COBID 24220 5E9C A 6 UNSIGNED_16 1
C00356 CAN time settings 24219 5E9B A 5 UNSIGNED_16 1
C00357 CAN monitoring times 24218 5E9A A 3 UNSIGNED_16 1
C00358 CANx_OUT data length 24217 5E99 A 3 UNSIGNED_8 1
C00359 CAN status 24216 5E98 E 1 UNSIGNED_8 1
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 859
8400 HighLine C | Software ManualParameter reference
Table of attributes
C00360 CAN telegram counter 24215 5E97 A 12 UNSIGNED_16 1
C00364 CAN MessageError 24211 5E93 E 1 UNSIGNED_8 1
C00366 CAN CAN1_OUT transmit at Sync 24209 5E91 E 1 UNSIGNED_8 1
C00367 CAN Sync-Rx identifier 24208 5E90 E 1 UNSIGNED_16 1
C00368 CAN Sync-Tx identifier 24207 5E8F E 1 UNSIGNED_16 1
C00369 CAN sync transmission cycle time 24206 5E8E E 1 UNSIGNED_16 1
C00372 CAN_Tx_Rx_Error 24203 5E8B A 2 UNSIGNED_8 1
C00381 CAN heartbeat producer time 24194 5E82 E 1 UNSIGNED_16 1
C00385 CAN node addr. HeartBeat producer 24190 5E7E A 15 UNSIGNED_8 1
C00386 CAN HeartBeat ConsumerTime 24189 5E7D A 15 UNSIGNED_16 1
C00400 LS_PulseGenerator 24175 5E6F A 2 UNSIGNED_16 1
C00401 CANxInOut: Inversion 24174 5E6E A 6 UNSIGNED_16
C00408 LP_CanIn mapping selection 24167 5E67 A 3 UNSIGNED_8 1
C00409 LP_CanIn mapping 24166 5E66 A 12 UNSIGNED_16 1
C00410 L_SignalMonitor_a Par. 24165 5E65 A 4 UNSIGNED_16 1
C00411 L_SignalMonitor_b Par. 24164 5E64 A 4 UNSIGNED_16 1
C00412 L_SignalMonitor_b: Inversion 24163 5E63 E 1 UNSIGNED_8
C00413 L_SignalMonitor_a offs./gain 24162 5E62 A 8 INTEGER_16 100
C00420 Encoder number of increments 24155 5E5B A 2 UNSIGNED_16 1
C00423 DigOut: Delay times 24152 5E58 A 10 UNSIGNED_16 1000
C00425 Encoder sample time 24150 5E56 A 2 UNSIGNED_8 1
C00434 OxU/I: Gain 24141 5E4D A 4 INTEGER_16 100
C00435 OxU/I: Offset 24140 5E4C A 4 INTEGER_16 100
C00436 OxU: Voltage 24139 5E4B A 2 INTEGER_16 100
C00437 OxI: Current 24138 5E4A A 2 INTEGER_32 1000
C00439 OxU/I: Input value 24136 5E48 A 4 INTEGER_16 100
C00440 LS_AnalogIn1: PT1 time constant 24135 5E47 A 2 UNSIGNED_16 1
C00443 DIx: level 24132 5E44 A 2 UNSIGNED_16
C00444 DOx: level 24131 5E43 A 2 UNSIGNED_16
C00445 FreqInxx_nOut_v 24130 5E42 A 2 INTEGER_16 1
C00446 FreqInxx_nOut_a 24129 5E41 A 2 INTEGER_16 100
C00465 Keypad: Time-out welcome screen 24110 5E2E E 1 INTEGER_32 1
C00466 Keypad: Default parameter 24109 5E2D E 1 INTEGER_32 1
C00467 Keypad: Default welcome screen 24108 5E2C E 1 INTEGER_32 1
C00469 Keypad: STOP key function 24106 5E2A E 1 INTEGER_32 1
C00470 LS_ParFree_b 24105 5E29 A 32 UNSIGNED_8 1
C00471 LS_ParFree 24104 5E28 A 8 UNSIGNED_16
C00472 LS_ParFree_a 24103 5E27 A 8 INTEGER_16 100
C00473 LS_ParFree_v 24102 5E26 A 8 INTEGER_16 1
C00474 LS_ParFree_p 24101 5E25 A 8 INTEGER_32 1
C00480 LS_DisFree_b 24095 5E1F E 1 UNSIGNED_16
C00481 LS_DisFree 24094 5E1E A 8 UNSIGNED_16
C00482 LS_DisFree_a 24093 5E1D A 8 INTEGER_16 100
C00483 LS_DisFree_p 24092 5E1C A 8 INTEGER_32 1
C00488 L_JogCtrlEdgeDetect 24087 5E17 A 6 UNSIGNED_8 1
C00490 Position encoder selection 24085 5E15 E 1 UNSIGNED_8 1
C00495 Speed sensor selection 24080 5E10 E 1 UNSIGNED_8 1
C00496 Encoder evaluation procedure 24079 5E0F E 1 UNSIGNED_8 1
C00497 Nact filter time constant 24078 5E0E A 2 UNSIGNED_16 10
C00517 User menu 24058 5DFA A 32 INTEGER_32 1000
C00560 Fan switching status 24015 5DCF A 2 UNSIGNED_8 1
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
8400 HighLine C | Software ManualParameter referenceTable of attributes
860 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00561 Fan failure 24014 5DCE A 2 UNSIGNED_8 1
C00565 Resp. to mains phase failure 24010 5DCA E 1 UNSIGNED_8 1
C00566 Resp. to fan failure 24009 5DC9 E 1 UNSIGNED_8 1
C00567 Speed controller resp. limited 24008 5DC8 E 1 UNSIGNED_8 1
C00569 Resp. to peak current 24006 5DC6 A 1 UNSIGNED_8 1
C00570 Resp. to controller limitations 24005 5DC5 A 4 UNSIGNED_8 1
C00572 Brake resistor overload threshold 24003 5DC3 E 1 UNSIGNED_8 1
C00574 Resp. to brake resist. overtemp. 24001 5DC1 E 1 UNSIGNED_8 1
C00576 SC: Field feedforward control 23999 5DBF E 1 UNSIGNED_16 1
C00577 SC: Vp field weakening controller 23998 5DBE E 1 UNSIGNED_16 10000
C00578 SC: Tn field weakening controller 23997 5DBD E 1 UNSIGNED_16 10
C00579 Resp. to speed monitoring 23996 5DBC E 1 UNSIGNED_8 1
C00581 Resp. LS_SetError_x 23994 5DBA A 8 UNSIGNED_8 1
C00582 Resp. to heatsink temp. > shutdown temp. -5°C
23993 5DB9 E 1 UNSIGNED_8 1
C00585 Resp. to motor overtemp. PTC 23990 5DB6 E 1 UNSIGNED_8 1
C00586 Resp. to encoder wire breakage 23989 5DB5 E 1 UNSIGNED_8 1
C00588 Resp. to max. speed at switch. frequency
23987 5DB3 E 1 UNSIGNED_8 1
C00590 Resp. to switch. frequency red. 23985 5DB1 E 1 UNSIGNED_8 1
C00592 Resp. to CAN bus connection 23983 5DAF A 5 UNSIGNED_8 1
C00593 Resp. to CANx_IN monitoring 23982 5DAE A 3 UNSIGNED_8 1
C00594 Resp. to control word error 23981 5DAD A 2 UNSIGNED_8 1
C00595 MCK: Resp. to MCK error 23980 5DAC A 14 UNSIGNED_8 1
C00597 Resp. to motor phase failure 23978 5DAA E 1 UNSIGNED_8 1
C00598 Resp. to open circuit AINx 23977 5DA9 A 2 UNSIGNED_8 1
C00599 Motor phase failure threshold 23976 5DA8 E 1 INTEGER_16 100
C00600 Resp. to DC bus voltage 23975 5DA7 A 1 UNSIGNED_8 1
C00601 Delayed resp. fault: DC-bus overvoltage
23974 5DA6 A 1 UNSIGNED_16 1000
C00602 Resp. to earth fault 23973 5DA5 E 1 UNSIGNED_8 1
C00604 Resp. to device overload (Ixt) 23971 5DA3 E 1 UNSIGNED_8 1
C00606 Resp. to motor overload (I²xt) 23969 5DA1 E 1 UNSIGNED_8 1
C00607 React. max. speed reached 23968 5DA0 E 1 UNSIGNED_8 1
C00608 Resp. to maximum torque 23967 5D9F E 1 UNSIGNED_8 1
C00609 Resp. to maximum current 23966 5D9E E 1 UNSIGNED_8 1
C00620 16-bit system connection 23955 5D93 A 48 UNSIGNED_16 1
C00621 Bool system connection 23954 5D92 A 110 UNSIGNED_16 1
C00622 Angle system connection 23953 5D91 A 12 UNSIGNED_16 1
C00630 L_Limit 1-2 Min/Max 23945 5D89 A 4 INTEGER_16 100
C00631 L_LimitPhi 1-3 Min/Max 23944 5D88 A 6 INTEGER_32 1
C00632 L_NSet_1: Max.SkipFrq. 23943 5D87 A 3 INTEGER_16 100
C00633 L_NSet_1 Min.SkipFrq. 23942 5D86 A 3 INTEGER_16 100
C00634 L_NSet_1: wState 23941 5D85 E 1 UNSIGNED_16
C00635 L_NSet_1: nMaxLimit 23940 5D84 E 1 INTEGER_16 100
C00636 L_NSet_1: nMinLimit 23939 5D83 E 1 INTEGER_16 100
C00637 L_NSet_1: Output blocking zone 23938 5D82 E 1 INTEGER_16 100
C00638 L_NSet_1: Output ramp rounding 23937 5D81 E 1 INTEGER_16 100
C00639 L_NSet_1: Output add.value 23936 5D80 E 1 INTEGER_16 100
C00640 L_NSet_1: nNOut_a 23935 5D7F E 1 INTEGER_16 100
C00650 L_Arithmetik 3-5: Fct. 23925 5D75 A 3 UNSIGNED_8 1
C00670 L_OffsetGainP_1: gain 23905 5D61 E 1 INTEGER_32 10000
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 861
8400 HighLine C | Software ManualParameter reference
Table of attributes
C00671 L_OffsetGainP_2: gain 23904 5D60 E 1 INTEGER_32 10000
C00672 L_OffsetGainP_3: gain 23903 5D5F E 1 INTEGER_32 10000
C00673 L_OffsetGainPhiP 1-2: Offset 23902 5D5E A 2 INTEGER_32 1
C00674 L_OffsetGainPhiP 1-2: Gain 23901 5D5D A 2 INTEGER_32 1
C00677 L_GainOffsetP 1-3: Parameter 23898 5D5A A 6 INTEGER_16 100
C00678 L_GainOffsetPhiP 1-2: Parameter 23897 5D59 A 4 INTEGER_32 1
C00679 L_MulDiv_2: parameter 23896 5D58 A 2 INTEGER_16 1
C00680 L_Compare_1: function 23895 5D57 E 1 UNSIGNED_8 1
C00681 L_Compare_1: hysteresis 23894 5D56 E 1 INTEGER_16 100
C00682 L_Compare_1: window 23893 5D55 E 1 INTEGER_16 100
C00685 L_Compare_2: function 23890 5D52 E 1 UNSIGNED_8 1
C00686 L_Compare_2: hysteresis 23889 5D51 E 1 INTEGER_16 100
C00687 L_Compare_2: window 23888 5D50 E 1 INTEGER_16 100
C00690 L_Compare_3: function 23885 5D4D E 1 UNSIGNED_8 1
C00691 L_Compare_3: hysteresis 23884 5D4C E 1 INTEGER_16 100
C00692 L_Compare_3: window 23883 5D4B E 1 INTEGER_16 100
C00693 L_Compare 4-5: Fct. 23882 5D4A A 2 UNSIGNED_8 1
C00694 L_Compare 4-5: Hysteresis 23881 5D49 A 2 INTEGER_16 100
C00695 L_Compare 4-5: Window 23880 5D48 A 2 INTEGER_16 100
C00696 L_OffsetGainP_1: Offset 23879 5D47 E 1 INTEGER_16 100
C00697 L_OffsetGainP_2: Offset 23878 5D46 E 1 INTEGER_16 100
C00698 L_OffsetGainP_3: Offset 23877 5D45 E 1 INTEGER_16 100
C00699 L_MulDiv_1: Parameter 23876 5D44 A 2 INTEGER_16 1
C00700 LA_NCtrl: Analog connection list 23875 5D43 A 19 UNSIGNED_16 1
C00701 LA_NCtrl: Digital connection list 23874 5D42 A 35 UNSIGNED_16 1
C00710 LA_TabPos: Analog connection list 23865 5D39 A 28 UNSIGNED_16 1
C00711 LA_TabPos: Digital connection list 23864 5D38 A 56 UNSIGNED_16 1
C00720 L_DigitalDelay_1 delay 23855 5D2F A 2 UNSIGNED_32 1000
C00721 L_DigitalDelay 2,3 delay 23854 5D2E A 4 UNSIGNED_32 1000
C00725 Current switching frequency 23850 5D2A E 1 UNSIGNED_8 1
C00727 Keypad digital values 23848 5D28 A 8 UNSIGNED_8 1
C00728 Keypad analog values 23847 5D27 A 3 INTEGER_16 100
C00800 L_MPot_1: upper limit 23775 5CDF E 1 INTEGER_16 100
C00801 L_MPot_1: lower limit 23774 5CDE E 1 INTEGER_16 100
C00802 L_MPot_1: acceleration time 23773 5CDD E 1 UNSIGNED_16 10
C00803 L_MPot_1: deceleration time 23772 5CDC E 1 UNSIGNED_16 10
C00804 L_MPot_1: inactive function 23771 5CDB E 1 UNSIGNED_8 1
C00805 L_MPot_1: Init fct. 23770 5CDA E 1 UNSIGNED_8 1
C00806 L_MPot_1: Use 23769 5CD9 E 1 UNSIGNED_8 1
C00807 L_NLim_1 Max.SkipFrq. 23768 5CD8 A 3 INTEGER_16 100
C00808 L_NLim_1 Min.SkipFrq. 23767 5CD7 A 3 INTEGER_16 100
C00809 L_NLim_2 Max.SkipFrq. 23766 5CD6 A 3 INTEGER_16 100
C00810 L_NLim_2 Min.SkipFrq. 23765 5CD5 A 3 INTEGER_16 100
C00820 L_DigitalLogic_1: Fct. 23755 5CCB E 1 UNSIGNED_8 1
C00821 L_DigitalLogic_1: Truth table 23754 5CCA A 8 UNSIGNED_8 1
C00822 L_DigitalLogic_2: Function 23753 5CC9 E 1 UNSIGNED_8 1
C00823 L_DigitalLogic_2: truth table 23752 5CC8 A 8 UNSIGNED_8 1
C00824 L_DigitalLogic5_1: Function 23751 5CC7 E 1 UNSIGNED_8 1
C00825 L_DigitalLogic5_1: Truth table 23750 5CC6 A 32 UNSIGNED_8 1
C00826 L_DigitalLogic5_2: Function 23749 5CC5 E 1 UNSIGNED_8 1
C00827 L_DigitalLogic5_2: Truth table 23748 5CC4 A 32 UNSIGNED_8 1
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
8400 HighLine C | Software ManualParameter referenceTable of attributes
862 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C00830 16bit input analog 23745 5CC1 A 89 INTEGER_16 100
C00831 16bit input common 23744 5CC0 A 89 UNSIGNED_16
C00832 16bit input velocity 23743 5CBF A 89 INTEGER_16 1
C00833 8bit input 23742 5CBE A 121 UNSIGNED_8 1
C00834 32Bit input analog 23741 5CBD A 7 INTEGER_32 1
C00835 16Bit input analog additionalFBsHL 23740 5CBC A 69 INTEGER_16 100
C00836 16bit input common AdditionalFBsHL 23739 5CBB A 69 UNSIGNED_16
C00837 16bit input velocity AdditionalFBsHL 23738 5CBA A 69 INTEGER_16 1
C00838 8bit input AdditionalFBsHL 23737 5CB9 A 138 UNSIGNED_8 1
C00839 32bit input AdditionalFBsHL 23736 5CB8 A 37 INTEGER_32 1
C00840 16Bit-SysInput analog 23735 5CB7 A 37 INTEGER_16 100
C00841 16Bit-SysInput common 23734 5CB6 A 37 UNSIGNED_16
C00843 8bit SysInput 23732 5CB4 A 110 UNSIGNED_8 1
C00844 32bit SysInput 23731 5CB3 A 12 INTEGER_32 1
C00866 CAN input words 23709 5C9D A 12 UNSIGNED_16
C00868 CAN output words 23707 5C9B A 12 UNSIGNED_16
C00876 MCI input words 23699 5C93 A 16 UNSIGNED_16
C00877 MCI output words 23698 5C92 A 16 UNSIGNED_16
C00890 MCI_InOut: Inversion 23685 5C85 A 4 UNSIGNED_16
C00909 Speed limitation 23666 5C72 A 2 INTEGER_16 100
C00910 Frequency limitation 23665 5C71 A 2 UNSIGNED_16 1
C00915 Motor cable length 23660 5C6C E 1 UNSIGNED_16 10
C00916 Motor cable cross-section 23659 5C6B E 1 UNSIGNED_16 100
C00917 Motor cable resistance 23658 5C6A E 1 UNSIGNED_16 1
C00966 VFC: Time const. - slip compens. 23609 5C39 E 1 UNSIGNED_16 1
C00971 VFC: limitation V/f +encoder 23604 5C34 a 2 UNSIGNED_16 100
C00972 VFC: Vp V/f +encoder 23603 5C33 E 1 UNSIGNED_16 1000
C00973 VFC: Ti V/f +encoder 23602 5C32 E 1 UNSIGNED_16 10
C00985 SLVC: Field current controller gain 23590 5C26 E 1 INTEGER_16 100
C00986 SLVC: Cross current controller gain 23589 5C25 E 1 INTEGER_16 100
C00990 Flying restart fct: activation 23585 5C21 E 1 UNSIGNED_8 1
C00991 Flying restart fct: process 23584 5C20 E 1 UNSIGNED_16 1
C00992 Flying restart: start frequency 23583 5C1F E 1 INTEGER_16 1
C00994 Flying restart fct: current 23581 5C1D E 1 INTEGER_16 100
C01010 L_ArithmetikPhi 1-3: Function 23565 5C0D a 3 UNSIGNED_8 1
C01100 Function L_Counter 1-3 23475 5BB3 a 3 UNSIGNED_8 1
C01120 Sync signal source 23455 5B9F E 1 UNSIGNED_8 1
C01121 Sync cycle time setpoint 23454 5B9E E 1 UNSIGNED_16 1
C01122 Sync phase position 23453 5B9D E 1 UNSIGNED_16 1
C01123 Sync window 23452 5B9C E 1 UNSIGNED_16 1
C01124 Sync correction increment 23451 5B9B E 1 UNSIGNED_8 1
C01140 L_Transient 1-4: Function 23435 5B8B A 4 UNSIGNED_8 1
C01141 L_Transient 1-4 pulse duration 23434 5B8A A 4 UNSIGNED_16 1000
C01150 L_PhaseIntK: Function 23425 5B81 A 2 UNSIGNED_8 1
C01151 L_PhaseIntK: Compare 23424 5B80 A 2 INTEGER_32 1
C01202 Axis data: iM motor/process 23373 5B4D A 2 UNSIGNED_16 1
C01203 Axis data: iG motor/position encoder 23372 5B4C A 2 UNSIGNED_16 1
C01204 Axis data: Feed constant 23371 5B4B E 1 INTEGER_32 10000
C01205 Axis data: Position resolution 23370 5B4A E 1 INTEGER_32 10000
C01206 Axis data: Mounting direction 23369 5B49 A 2 UNSIGNED_8 1
C01210 Axis data: Current positions 23365 5B45 A 5 INTEGER_32 10000
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 863
8400 HighLine C | Software ManualParameter reference
Table of attributes
C01211 Axis data: Speed 23364 5B44 A 1 INTEGER_32 10000
C01213 MCK: max. travel distance 23362 5B42 A 1 INTEGER_32 1
C01215 Axis data: Following error 23360 5B40 A 2 INTEGER_32 10000
C01218 MCK: PosFollower setting 23357 5B3D E 1 UNSIGNED_8
C01219 MCK: Speed follower Einstellung 23356 5B3C E 1 UNSIGNED_8
C01221 MCK: Ref mode 23354 5B3A E 1 UNSIGNED_8 1
C01222 MCK: Ref. M limit mode 14/15 23353 5B39 E 1 INTEGER_16 100
C01223 MCK: Ref waiting time mode 14/15 23352 5B38 E 1 UNSIGNED_16 1
C01224 MCK: Ref speeds 23351 5B37 A 2 INTEGER_32 10000
C01225 MCK: Ref accelerations 23350 5B36 A 2 INTEGER_32 10000
C01226 MCK: Ref S-ramp time 23349 5B35 A 1 UNSIGNED_16 1000
C01227 MCK: Ref positions 23348 5B34 A 2 INTEGER_32 10000
C01228 MCK: Ref sequence profile 23347 5B33 E 1 UNSIGNED_8 1
C01229 MCK: position limiting values 23346 5B32 A 2 INTEGER_32 10000
C01230 MCK: Manual jog setting 23345 5B31 E 1 UNSIGNED_8
C01231 MCK: Manual jog speeds 23344 5B30 A 2 INTEGER_32 10000
C01232 MCK: Manual jog accelerations 23343 5B2F A 2 INTEGER_32 10000
C01233 MCK: Manual jog S-ramp time 23342 5B2E A 1 UNSIGNED_16 1000
C01234 MCK: Manual jog breakpoint 23341 5B2D A 4 INTEGER_32 10000
C01235 MCK: Manual jog waiting time 23340 5B2C A 1 UNSIGNED_16 1000
C01236 MCK: Follower speeds 23339 5B2B A 1 INTEGER_32 10000
C01237 MCK: Follower accelerations 23338 5B2A A 2 INTEGER_32 10000
C01238 MCK: Follower S-ramp times 23337 5B29 A 1 UNSIGNED_16 1000
C01239 MCK: Interpolator cycle - PosFollower 23336 5B28 E 1 UNSIGNED_32 1000
C01240 MCK: Control word 23335 5B27 E 1 UNSIGNED_32
C01241 MCK: Status word 23334 5B26 E 1 UNSIGNED_32
C01242 MCK: Act. pos.profile number 23333 5B25 E 1 UNSIGNED_8 1
C01243 MCK: Current operating mode 23332 5B24 E 1 UNSIGNED_8 1
C01244 MCK: Target position detection 23331 5B23 A 1 UNSIGNED_16 1
C01245 MCK: Target position detection 23330 5B22 A 1 INTEGER_32 10000
C01251 MCK: Stop accelerations 23324 5B1C A 1 INTEGER_32 10000
C01252 MCK: Stop S-ramp times 23323 5B1B A 1 UNSIGNED_16 1000
C01297 Alternative function PosExecute 23278 5AEE E 1 UNSIGNED_8
C01298 MCK change of operating mode with profile no.
23277 5AED A 4 UNSIGNED_8 1
C01299 MCKI: MCKInterface status 23276 5AEC E 1 UNSIGNED_8
C01300 Profile data: Positioning mode 23275 5AEB A 15 UNSIGNED_8 1
C01301 Profile data: Position 23274 5AEA A 15 INTEGER_32 10000
C01302 Profile data: Speed 23273 5AE9 A 15 INTEGER_32 10000
C01303 Profile data: Acceleration 23272 5AE8 A 15 INTEGER_32 10000
C01304 Profile data: Deceleration 23271 5AE7 A 15 INTEGER_32 10000
C01305 Profile data: Final speed 23270 5AE6 A 15 INTEGER_32 10000
C01306 Profile data: S-ramp time 23269 5AE5 A 15 UNSIGNED_16 1000
C01307 Profile data: Sequence profile 23268 5AE4 A 15 UNSIGNED_8 1
C01501 Resp. to communication error with MCI
23074 5A22 a 2 UNSIGNED_8 1
C01670 L_ComparePhi: Function 22905 5979 A 5 UNSIGNED_8 1
C01671 L_ComparePhi: Hysteresis 22904 5978 A 5 INTEGER_32 1
C01672 L_ComparePhi: Window 22903 5977 A 5 INTEGER_32 1
C01902 Diagnostics X6: Max. baud rate 22673 5891 E 1 UNSIGNED_16 1
C01903 Diagnostics X6: change baud rate 22672 5890 E 1 UNSIGNED_8 1
C01905 Diagnostics X6: act. baud rate 22670 588E E 1 UNSIGNED_32 1
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
8400 HighLine C | Software ManualParameter referenceTable of attributes
864 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C02580 Holding brake: Operating mode 21995 55EB E 1 UNSIGNED_8 1
C02581 Holding brake: Speed threshold 21994 55EA A 3 INTEGER_16 100
C02582 Holding brake: Setting 21993 55E9 E 1 UNSIGNED_8
C02589 Holding brake: Time system 21986 55E2 A 3 UNSIGNED_16 1
C02593 Holding brake: Activation time 21982 55DE A 4 UNSIGNED_32 1000
C02607 Holding brake: status 21968 55D0 E 1 UNSIGNED_16
C02610 MCK: Accel./decel. times 21965 55CD A 2 UNSIGNED_32 1000
C02611 MCK: Limitations 21964 55CC A 4 INTEGER_16 100
C02830 DIx: debounce time 21745 54F1 A 7 UNSIGNED_8 1
C02840 CountIn: Parameter 21735 54E7 A 4 UNSIGNED_32 1
C02841 CountInx: Counter content 21734 54E6 A 2 UNSIGNED_32 1
C02842 FreqInxx: offset 21733 54E5 A 2 INTEGER_16 100
C02843 FreqInxx: gain 21732 54E4 A 2 INTEGER_16 100
Code Name Index Data Access
dec hex DS DA DT Factor R w CINH
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 865
8400 HighLine C | Software ManualIndex
18 Index
Symbols"Actuating drive - speed" technology application 349
"Positioning" technology application 391
Numerics16-bit connection table (C610) 704
16bit input analog (C00830) 788
16bit input analog AdditionalFBsHL (C00835) 799
16bit input common (C00831) 790
16bit input common AdditionalFBsHL (C00836) 801
16bit input velocity (C00832) 792
16bit input velocity AdditionalFBsHL (C00837) 803
16bit SysInput analog (C00840) 810
16bit SysInput common (C00841) 811
16-bit system connection (C00620) 705
24 V supply voltage (C00065) 618
32-bit connection table (C612) 704
32bit input AdditionalFBsHL (C00839) 809
32bit input analog (C00834) 799
32bit SysInput (C00844) 815
382060 305
8bit input (C00833) 795
8bit input AdditionalFBsHL (C00838) 805
8bit SysInput (C00843) 812
AAccel. time - add. setpoint (C00220) 645
Accel. time - main setpoint (C00012) 611
Acknowledgement error 259
Activation of the bus terminating resistor 224
Active COBID (C00355) 657
Add. acceleration time x (C00101) 624
Add. deceleration time x (C00103) 624
AINxConfiguration (C00034) 615Gain (C00027) 613Input current (C00029) 614Input voltage (C00028) 614Offset (C00026) 613Output value (C00033) 614
Alternative function PosExecute (C01297) 841
Analog inputs 179
Analog outputs 183
Angle system connection (C00622) 727
ApplicationReference frequency C11 (C00059) 617Reference speed (C00011) 610
Application conditions 222
Application notes 21
Application selection (C00005) 607
Assignment of the process data objects 239
Auto-DCBHold time (C00106) 625Threshold (C00019) 612
AutoFailReset repetition time (C00184) 642
AutoFailReset residual runtime (C00185) 642
Auto-start option (C00142) 630
Available process data objects 234
Axis dataCurrent positions (C01210) 828Feed constant (C01204) 827Following error (C01215) 829iG motor/position encoder (C01203) 826iM motor/process (C01202) 826Mounting direction (C01206) 827Position resolution (C01205) 827Speed (C01211) 828
BBasic drive functions 334
Basic functions 334
Basic identifier for individual identifier assignment 239
Basic signal flow 349
Bit error 259
Bool connection table (C611) 704
Bool system connection (C00621) 713
Brake control 335
Brake resistance value (C00129) 627
Brake resistor overload threshold (C00572) 696
Brake resistor utilisation (C00133) 627
CC100 624
C101 547, 624
C1010 503, 823
C103 547, 624
C105 624
C106 625
C107 625
C11 610
C1100 519, 823
C1120 824
C1121 824
C1122 824
C1123 824
C1124 825
C114 625
C1140 581, 825
C1141 581, 825
C115 626
C1150 562, 826
C1151 562, 826
8400 HighLine C | Software ManualIndex
866 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C117 626
C118 626
C12 547, 611
C120 627
C1202 826
C1203 826
C1204 827
C1205 827
C1206 827
C1210 828
C1211 828
C1213 828
C1215 829
C1218 829
C1219 830
C1221 830
C1222 830
C1223 831
C1224 831
C1225 831
C1226 831
C1227 832
C1228 832
C1229 832
C123 627
C1230 833
C1231 833
C1232 833
C1233 834
C1234 834
C1235 834
C1236 834
C1237 835
C1238 835
C1239 835
C1240 836
C1241 838
C1242 839
C1243 839
C1244 840
C1245 840
C1251 840
C1252 840
C129 627
C1297 841
C1298 841
C1299 533, 842
C13 547, 611
C130 627
C1300 842
C1301 842
C1302 843
C1303 843
C1304 843
C1305 843
C1306 844
C1307 844
C131 627
C133 627
C134 547, 628
C136 628
C137 629
C138 630
C142 630
C144 631
C15 611
C150 631
C1501 844
C155 632
C158 633
C159 634
C16 611
C161 634
C163 635
C164 637
C165 639
C166 639
C167 639
C1670 509, 845
C1671 509, 845
C1672 509, 845
C168 639
C169 640
C170 640
C171 640
C173 640
C174 641
c175 641
C1751 846
C1752 846
C1755 846
C1763 846
C1764 846
C1765 846
C177 641
C1770 846
C178 641
C179 642
C18 612
C180 642
C182 547, 642
C184 642
C185 642
C186 642
C187 643
C188 643
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 867
8400 HighLine C | Software ManualIndex
C189 643
C19 612
C190 547, 643
C1902 846
C1903 847
C1905 847
C2 605
C200 644
C201 644
C203 644
C204 644
C205 645
C206 645
C21 612
C210 645
C22 613
C220 547, 645
C221 547, 645
C222 568, 645
C223 568, 645
C224 568, 645
C225 568, 646
C226 568, 646
C227 568, 646
C228 568, 646
C23 613
C231 568, 646
C233 568, 647
C234 647
C235 647
C236 647
C24 613
C241 547, 647
C242 569, 648
C243 569, 648
C244 569, 648
C245 569, 648
C249 573, 648
C250 573, 649
C251 528, 649
C252 528, 649
C253 528, 649
C254 649
C2580 847
C2581 847
C2582 848
C2589 849
C2593 849
C26 613
C2607 850
C2610 850
C2611 851
C265 650
C27 613
C270 650
C271 650
C272 650
C273 650
C274 650
C275 651
C276 651
C28 614
C280 651
C2830 852
C2840 853
C2841 853
C2842 853
C2843 854
C29 614
C290 651
C291 651
C296 651
C297 651
C2994 854
C2995 854
C2996 854
C3 607
C301 651
C302 651
C304 652
C305 652
C306 652
C307 652
C308 652
C309 652
C310 652
C311 652
C313 652
C314 652
C315 652
C316 652
C317 653
C320 653
C321 653
C322 653
C323 653
C33 614
C338 502, 654
C339 502, 654
C34 615
C345 654
C347 655
C349 655
C350 656
C351 656
C352 656
8400 HighLine C | Software ManualIndex
868 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C353 656
C354 657
C355 657
C356 658
C357 658
C358 658
C359 659
C36 615
C360 659
C364 660
C366 660
C367 660
C368 660
C369 661
C372 661
C381 661
C385 661
C386 662
C39 547, 615
C400 597, 662
C401 662
C408 663
C409 663
C410 578, 664
C411 580, 670
C412 580, 682
C413 578, 682
C420 682
C423 683
C425 683
C434 684
C435 684
C436 684
C437 684
C439 685
C440 685
C443 686
C444 687
C445 687
C446 687
C455 688
C456 688
C458 688
C465 688
C466 688
C467 688
C468 688
C469 689
C470 594, 689
C471 592, 689
C472 593, 690
C473 595, 690
C474 690
C480 586, 691
C481 584, 691
C482 585, 691
C483 691
C488 692
C490 692
C495 692
C496 693
C497 693
C5 607
C50 616
C51 616
C516 693
C517 694
C52 616
C53 616
C54 616
C56 617
C560 695
C561 695
C565 695
C566 695
C567 696
C569 696
C57 617
C570 696
C572 696
C574 697
C576 697
C577 697
C578 697
C579 697
C58 617
C581 698
C582 698
C585 698
C586 699
C588 699
C59 617
C590 699
C592 699
C593 700
C594 700
C595 701
C597 701
C598 702
C599 702
C6 608
C600 702
C601 702
C602 703
C604 703
C606 703
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 869
8400 HighLine C | Software ManualIndex
C607 703
C608 703
C609 704
C61 617
C610 704
C611 704
C612 704
C613 704
C615 704
C617 704
C620 705
C621 713
C622 727
C630 529, 728
C631 729
C632 547, 729
C633 548, 729
C634 548, 730
C635 548, 730
C636 548, 730
C637 730
C638 731
C639 731
C64 618
C640 731
C65 618
C650 502, 731
C66 618
C670 556, 731
C671 556, 732
C672 556, 732
C673 557, 732
C674 557, 732
C677 732
C678 733
C679 541, 733
C680 504, 733
C681 505, 733
C682 505, 734
C685 504, 734
C686 505, 734
C687 505, 734
C690 504, 734
C691 505, 735
C692 505, 735
C693 504, 735
C694 505, 735
C695 505, 736
C696 556, 736
C697 556, 736
C698 556, 736
C699 541, 736
C7 609
C70 618
C700 737
C701 744
C705 757
C706 757
C71 619
C710 757
C711 765
C712 779
C715 779
C716 779
C717 780
C72 619
C720 522, 780
C721 522, 780
C725 780
C726 781
C727 781
C728 782
C73 619
C74 619
C75 619
C750 782
C76 620
C77 620
C78 620
C79 620
C8 609
C80 621
C800 538, 782
C801 538, 782
C802 538, 782
C803 538, 782
C804 538, 783
C805 783
C806 538, 783
C807 783
C808 784
C809 784
C81 621
C810 784
C82 621
C820 525, 784
C821 525, 785
C822 525, 785
C823 525, 785
C824 526, 786
C825 526, 527, 786
C826 526, 787
C827 526, 527, 787
C83 621
C830 788
C831 790
8400 HighLine C | Software ManualIndex
870 L Firmware 02.00 - DMS EN 3.0 - 05/2009
C832 792
C833 795
C834 799
C835 799
C836 801
C837 803
C838 805
C839 809
C84 621
C840 810
C841 811
C843 812
C844 815
C85 622
C866 816
C868 817
C87 622
C876 818
C877 819
C88 622
C89 622
C890 819
C90 622
C909 820
C91 623
C910 820
C915 820
C916 820
C917 820
C92 623
C922 820
C93 623
C95 623
C966 821
C97 623
C971 821
C972 821
C973 821
C98 623
C985 822
C986 822
C99 624
C990 822
C991 822
C992 822
C993 823
C994 823
CAN baud rate (C00351) 656
CAN CAN1_OUT transmit at sync (C00366) 660
CAN data telegram 227
CAN DIP switch setting (C00349) 655
CAN error status (C00345) 654
CAN HeartBeat ConsumerTime (C00386) 662
CAN heartbeat producer time (C00381) 661
CAN IN/OUT COBID source (C00353) 656
CAN input words (C00866) 816
CAN MessageError (C00364) 660
CAN monitoring times (C00357) 658
CAN node addr. HeartBeat producer (C00385) 661
CAN node address (C00350) 656
CAN on board 219
CAN output words (C00868) 817
CAN slave/master (C00352) 656
CAN start remote node 233
CAN status (C00359) 659
CAN status HeartBeat producer (C00347) 655
CAN sync Rx identifier (C00367) 660
CAN sync transmission cycle time (C00369) 661
CAN sync Tx identifier (C00368) 660
CAN telegram counter (C00360) 659
CAN time settings (C00356) 658
CAN_Tx_Rx_Error (C00372) 661
CANx_OUT data length (C00358) 658
CANxInOutInversion (C00401) 662
Cause of controller inhibit (C00158) 633
Cause of quick stop QSP (C00159) 634
Checksums (C516) 693
COBID (C00354) 657
COB-ID EMCY (I-1014) 269
COB-ID SYNC message (I-1005) 268
Communication control words (C00136) 628
Communication cycle period (I-1006) 269
Communication phases 229
Communication time 223
Comparing applications 489
Comparing FB interconnections 489
Comparing interconnections 489
Comparison value N_Act (C00024) 613
Configuration of AutoFailReset (C00188) 643
Connect. table 16-bit AdditionalFBsHL (C613) 704
Connect. table 32-bit AdditionalFBsHL (C617) 704
Connect. table Bool AdditionalFBsHL (C615) 704
Controller commands (C00002) 605
Conventions used 19
Conventions used for variable identifiers 447
Copying complete interconnection 492
Copying elements 483
Copying FB interconnection 492
Copying interconnection 492
Copying interconnection elements 483
Copying objects 483
Counter Receive Error Isr (C297) 651
CountInParameter (C02840) 853
CountInxCounter content (C02841) 853
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 871
8400 HighLine C | Software ManualIndex
CRC error 259
Current AutoFailReset procedures (C00187) 643
Current error (C00170) 640
Current limit values (C726) 781
Current switching frequency (C00725) 780
DData type 600
Data type entry 447
DCBCurrent (C00036) 615Hold time (C00107) 625
DC-bus voltage (C00053) 616
Debug address (C306) 652
Debug information (C320) 653
Debug value (C307) 652
DebugAccess (C301) 651
Decel. time - add. setpoint (C00221) 645
Decel. time - main setpoint (C00013) 611
Deceleration time - quick stop (C00105) 624
Delayed resp. to faultDC-bus overvoltage (C00601) 702
Device state (C00137) 629
Device type (I-1000) 266
Device utilisat. threshold (Ixt) (C00123) 627
Device utilisation (Ixt) (C00064) 618
DI polarity (C00114) 625
Diagnostics X6Changing the baud rate (C01903) 847Current baud rate (C01905) 847max. baud rate (C01902) 846
Digital input assignment 744
Digital inputs 187
Digital outputs 197
DigOutDelay times (C00423) 683
DIP switch settings 224
DIxDebounce time (C02830) 852Level (C00443) 686
DOxLevel (C00444) 687
DOx inversion (C00118) 626
DRIVE ERROR-LED 55
Drive interface 54
DRIVE READY-LED 55
EEditor level (C456) 688
Elapsed-hour meter (C00178) 641
E-mail to Lenze 879
Emergency 261
Encoder evaluation 211
Encoder evaluation procedure (C00496) 693
Encoder sample time (C00425) 683
Error codes 253
Error detection 259
Error information (C00165) 639
Error information text (C00166) 639
Error messages 298
Error messages (short overview) 303
Error number 298
Error register (I-1001) 266
Error type RCOM (C291) 651
FFan failure (C00561) 695
Fan switching status (C00560) 695
FB display input output2 (C2996) 854
FB display input/output (C2995) 854
FB Editor 442
FB xy position (C2994) 854
FB_call table (C455) 688
Fct. DI 1/2 & 6/7 (C00115) 626
Feedback to Lenze 879
Feedforward control of torque 115, 124
Fieldbus interface 316
Filter time - earth-fault detect. is running (C1770) 846
Filter time - oscill. damping (C00235) 647
Firmware (C00201) 644
Firmware download function is active 57
Firmware product type (C00200) 644
Firmware version (C00099) 624
Firmware version (C00100) 624
Fixed setpoint x (L_NSet_1 n-Fix) (C00039) 615
Flying restart fct.Activation (C00990) 822Current (C00994) 823Int. time (C993) 823Process (C00991) 822Start frequency (C00992) 822
Format error 259
FreqInxxGain (C02843) 854Offset (C02842) 853
FreqInxx_nOut_a (C00446) 687
FreqInxx_nOut_v (C00445) 687
Frequency limitation (C00910) 820
Function assignment 744
Function block editor 442
Function L_Counter 1-3 (C01100) 823
GGeneral data 222
gotolink parameter.fmc129 174c130 174c131 174
8400 HighLine C | Software ManualIndex
872 L Firmware 02.00 - DMS EN 3.0 - 05/2009
c133 174C173 173, 176C174 173, 176c175 175, 176C2 67C242 43C5 42c572 173C574 173, 176C7 43C806 43
HHeartbeat protocol 260
Heatsink temperature (C00061) 617
Holding brake 335Activation time (C02593) 849Operating mode (C02580) 847Setting (C02582) 848Speed thresholds (C02581) 847Status (C02607) 850Time system (C02589) 849
Homing 427
HW version (C210) 645
II-1000 266
I-1001 266
I-1003 267
I-1005 268
I-1006 269
I-1014 269
I-1017 270
I-1018 270
I-1200 271
I-1201 272
I-1400 274
I-1401 275
I-1402 276
I-1600 277
I-1601 277
I-1602 278
I-1800 279
I-1801 281
I-1802 282
I-1A00 283
I-1A01 283
I-1A02 284
ICM_DiagnosticCounter (C922) 820
ICOM error number (C296) 651
Identifier 228
Identifier assignment 228
Identifiers of the parameter data objects 247
Identifiers of the process data objects 237
Identity object (I-1018) 270
Imax in generator mode (C00023) 613
Imax in motor mode (C00022) 613
Imax/M controller gain (C00073) 619
Imax/M controller reset time (C00074) 619
Info (C205) 645
Insert options for copied elements 485
Inserting complete interconnection from reference project 493
Inserting copied elements 485
Inserting FB interconnection from reference project 493
Integrated error detection 259
Internal Commands (C302) 651
Internal control signals (C00138) 630
JJerk limitation 437
KKeypad
Default parameters (C00466) 688Default welcome screen (C00467) 688STOP key function (C00469) 689Time-out - welcome screen (C00465) 688
Keypad analog values (C00728) 782
Keypad digital values (C00727) 781
Keypad LCD display 290
Kp position controller (C00254) 649
LL_Absolut 497
L_Absolute_1 497
L_Absolute_2 497
L_AddSub 498
L_AddSub_1 498
L_AnalogSwitch 499
L_AnalogSwitch_1 499
L_AnalogSwitch_2 499
L_AnalogSwitch_3 499
L_AnalogSwitch_4 499
L_AnalogSwitch_5 499
L_And 500
L_And_1 500
L_And_2 500
L_And_3 500
L_And5 501
L_And5_1 501
L_And5_2 501
L_Arithmetik 502
L_Arithmetik 3-5Fct. (C00650) 731
L_Arithmetik_1 502Function (C00338) 654
L_Arithmetik_2 502
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8400 HighLine C | Software ManualIndex
Function (C00339) 654
L_Arithmetik_3 502
L_Arithmetik_4 502
L_Arithmetik_5 502
L_ArithmetikPhi 503
L_ArithmetikPhi 1-3Function (C01010) 823
L_ArithmetikPhi_1 503
L_ArithmetikPhi_2 503
L_ArithmetikPhi_3 503
L_Compare 504
L_Compare 4-5Fct. (C00693) 735Hysteresis (C00694) 735Window (C00695) 736
L_Compare_1 504Fct. (C00680) 733Hysteresis (C00681) 733Window (C00682) 734
L_Compare_2 504Fct. (C00685) 734Hysteresis (C00686) 734Window (C00687) 734
L_Compare_3 504Fct. (C00690) 734Hysteresis (C00691) 735Window (C00692) 735
L_Compare_4 504
L_Compare_5 504
L_ComparePhi 509Function (C01670) 845Hysteresis (C01671) 845Window (C01672) 845
L_ComparePhi_1 509
L_ComparePhi_2 509
L_ComparePhi_3 509
L_ComparePhi_4 509
L_ComparePhi_5 509
L_ConvBitsToWord 514
L_ConvBitsToWord_1 514
L_ConvBitsToWord_2 514
L_ConvBitsToWord_3 514
L_ConvDIntToWords 515
L_ConvDIntToWords_1 515
L_ConvDIntToWords_2 515
L_ConvDIntToWords_3 515
L_ConvWordsToDInt 516
L_ConvWordsToDInt_1 516
L_ConvWordsToDInt_2 516
L_ConvWordsToDInt_3 516
L_ConvWordToBits 517
L_ConvWordToBits_1 517
L_ConvWordToBits_2 517
L_ConvWordToBits_3 517
L_Counter 518
L_Counter_1 518
L_Counter_2 518
L_Counter_3 518
L_DFlipFlop 520
L_DFlipFlop_1 520
L_DFlipFlop_2 520
L_DigitalDelay 522
L_DigitalDelay 2,3 delay (C00721) 780
L_DigitalDelay_1 522
L_DigitalDelay_1 delay (C00720) 780
L_DigitalDelay_2 522
L_DigitalDelay_3 522
L_DigitalLogic 524
L_DigitalLogic_1 524Fct. (C00820) 784Truth table (C00821) 785
L_DigitalLogic_2 524Function (C00822) 785Truth table (C00823) 785
L_DigitalLogic5 526
L_DigitalLogic5_1 526Function (C00824) 786Truth table (C00825) 786
L_DigitalLogic5_2 526Function (C00826) 787Truth table (C00827) 787
L_DT1 528
L_DT1_1 528DelayTime (C00251) 649Gain (C00252) 649Sensitivity (C00253) 649
L_GainOffsetP 1-3Parameter (C00677) 732
L_GainOffsetPhiP 1-2Parameter (C00678) 733
L_JogCtrlEdgeDetect (C00488) 692
L_Limit 529
L_Limit 1-2 Min/Max (C00630) 728
L_Limit_1 529
L_Limit_2 529
L_LimitPhi 1-3 Min/Max (C00631) 729
L_MckCtrlInterface 530
L_MckCtrlInterface_1 530
L_MckStateInterface 535
L_MckStateInterface_1 535
L_MPot 537
L_MPot_1 537Acceleration time (C00802) 782Deceleration time (C00803) 782Inactive function (C00804) 783Init fct. (C00805) 783Lower limit (C00801) 782Upper limit (C00800) 782Use (C00806) 783
L_MulDiv 541
8400 HighLine C | Software ManualIndex
874 L Firmware 02.00 - DMS EN 3.0 - 05/2009
L_MulDiv_1 541Parameter (C00699) 736
L_MulDiv_2 541Parameter (C00679) 733
L_Mux 542
L_Mux_1 542
L_Negation 543
L_Negation_1 543
L_Negation_2 543
L_NLim_1 Max.SkipFrq. (C00807) 783
L_NLim_1 Min.SkipFrq. (C00808) 784
L_NLim_2 Max.SkipFrq. (C00809) 784
L_NLim_2 Min.SkipFrq. (C00810) 784
L_Not 544
L_Not_1 544
L_Not_2 544
L_Not_3 544
L_Not_4 544
L_Not_5 544
L_Not_6 544
L_Not_7 544
L_Nset 545
L_NSet_1 545Additional value output (C00639) 731Blocking zone output (C00637) 730Hyst. NSet reached (C00241) 647Max.SkipFrq. (C00632) 729nMaxLimit (C00635) 730nMinLimit (C00636) 730nNOut_a (C00640) 731Ramp rounding output (C00638) 731wState (C00634) 730
L_NSet_1 Min.SkipFrq. (C00633) 729
L_OffsetGainP 555
L_OffsetGainP_1 555Gain (C00670) 731Offset (C00696) 736
L_OffsetGainP_2 555Gain (C00671) 732Offset (C00697) 736
L_OffsetGainP_3 555Gain (C00672) 732Offset (C00698) 736
L_OffsetGainPhiP 557
L_OffsetGainPhiP 1-2Gain (C00674) 732Offset (C00673) 732
L_OffsetGainPhiP_1 557
L_OffsetGainPhiP_2 557
L_Or 559
L_Or_1 559
L_Or_2 559
L_Or_3 559
L_Or5 560
L_Or5_1 560
L_Or5_2 560
L_PCTRL 566
L_PCTRL_1 566Acceleration time (C00227) 646Acceleration time influence (C00243) 648Deceleration time (C00228) 646Deceleration time influence (C00244) 648Kd (C00224) 645MaxLimit (C00225) 646MinLimit (C00226) 646Operating mode (C00242) 648Operating range (C00231) 646PID output value (C00245) 648Root function (C00233) 647Tn (C00223) 645Vp (C00222) 645
L_PhaseIntK 561Compare (C01151) 826Function (C01150) 826
L_PhaseIntK_1 561
L_PhaseIntK_2 561
L_PT1 573
L_PT1 2-3DelayTime (C00250) 649
L_PT1_1 573Time constant (C00249) 648
L_PT1_2 573
L_PT1_3 573
L_RLQ 574
L_RLQ_1 574
L_RSFlipFlop 575
L_RSFlipFlop_1 575
L_RSFlipFlop_2 575
L_SampleHold 576
L_SampleHold_1 576
L_SampleHold_2 576
L_SignalMonitor_a 577
L_SignalMonitor_a offset/gain (C00413) 682
L_SignalMonitor_a par. (C00410) 664
L_SignalMonitor_b 579Inversion (C00412) 682
L_SignalMonitor_b par. (C00411) 670
L_Transient 581
L_Transient 1-4Function (C01140) 825
L_Transient 1-4 pulse duration (C01141) 825
L_Transient_1 581
L_Transient_2 581
L_Transient_3 581
L_Transient_4 581
LA_NCtrl 368Analog connection list (C00700) 737Digital connection list (C00701) 744
LA_NCtrl_OutAnalog signal list (C705) 757
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 875
8400 HighLine C | Software ManualIndex
LA_NCtrl_Out digital signal list (C706) 757
LA_TabPos 410Analog connection list (C00710) 757Connection list phi (C712) 779Digital connection list (C00711) 765
LA_TabPos_OutAnalog signal list (C715) 779Digital signal list (C716) 779Signal list phi (C717) 780
Layout of the safety instructions 21
LCD display (keypad) 290
LED status displays 55
Logbook - analog elements (C00164) 637
Logbook - binary elements (C00163) 635
Logbook access index (C171) 640
Logbook data (C167) 639
Logbook setting (C00169) 640
LP_CanIn mapping (C00409) 663
LP_CanIn mapping selection (C00408) 663
LP_CanIn1 ... LP_CanIn3 241
LP_CanOut1 ... LP_CanOut3 243
LP_MciIn 245
LP_MciOut 245
LS_AnalogIn1PT1 time constant (C00440) 685
LS_AnalogInput 182
LS_AnalogOutput 186
LS_Brake 336
LS_DataAccessActivation (C313) 652Address access (C314) 652
LS_DigitalInput 190
LS_DigitalOutput 200
LS_DisFree 584
LS_DisFree (C00481) 691
LS_DisFree_a 585
LS_DisFree_a (C00482) 691
LS_DisFree_b 586
LS_DisFree_b (C00480) 691
LS_DisFree_p (C00483) 691
LS_DriveInterface 70
LS_MotionControlKernel 587
LS_MotorInterface 163
LS_ParFix 591
LS_ParFree 592
LS_ParFree (C00471) 689
LS_ParFree_a 593
LS_ParFree_a (C00472) 690
LS_ParFree_b 594
LS_ParFree_b (C00470) 689
LS_ParFree_p (C00474) 690
LS_ParFree_v 595
LS_ParFree_v (C00473) 690
LS_PulseGenerator 596
LS_PulseGenerator (C00400) 662
LS_SetError 312
LS_SetError_1 312
LS_SetError_2 312
LS_SetError_xError number (C00161) 634
MMain program runtime (C00321) 653
Mains voltage (C00173) 640
Max. no. of AutoFailReset procedures (C00186) 642
Maximum torque (C00057) 617
MCI input words (C00876) 818
MCI output words (C00877) 819
MCI_InOutInversion (C00890) 819
MCKAcceleration/deceleration times (C02610) 850Act. pos. profile number (C01242) 839Control word (C01240) 836Current operating mode (C01243) 839Follower accelerations (C01237) 835Follower speeds (C01236) 834Follower S-ramp times (C01238) 835Interpolator cycle - PosFollower (C01239) 835Limitations (C02611) 851Manual jog accelerations (C01232) 833Manual jog breakpoints (C01234) 834Manual jog setting (C01230) 833Manual jog speeds (C01231) 833Manual jog S-ramp time (C01233) 834Manual jog waiting times (C01235) 834Max. distance to be traversed (C01213) 828PosFollower setting (C01218) 829Position limiting values (C01229) 832Ref accelerations (C01225) 831Ref mode (C01221) 830Ref positions (C01227) 832Ref sequence profile (C01228) 832Ref speeds (C01224) 831Ref S-ramp time (C01226) 831Ref waiting time mode 14/15 (C01223) 831Ref. M limit mode 14/15 (C01222) 830Resp. MCK error (C00595) 701Speed follower setting (C01219) 830Status word (C01241) 838Stop accelerations (C01251) 840Stop S-ramp times (C01252) 840Target position detection (C01244) 840Target position detection (C01245) 840
MCK change of operating mode with profile no. (C01298) 841
MCK control word 415
MCKIMCKInterface status (C01299) 842
8400 HighLine C | Software ManualIndex
876 L Firmware 02.00 - DMS EN 3.0 - 05/2009
MCTRLActual speed value (C00051) 616Speed setpoint (C00050) 616
Moment of inertia (C00273) 650
Monitoring 295
Motor cable cross-section (C00916) 820
Motor cable length (C00915) 820
Motor cable resistance (C00917) 820
Motor control 83
Motor cosine phi (C00091) 623
Motor current (C00054) 616
Motor holding brake 335
Motor magnetising current (C00095) 623
Motor magnetising inductance (C00092) 623
Motor overload threshold (I²xt) (C00120) 627
Motor parameter identification is active 59
Motor phase failure threshold (C00599) 702
Motor rotor resistance (C00082) 621
Motor rotor time constant (C00083) 621
Motor stator leakage inductance (C00085) 622
Motor stator resistance (C00084) 621
Motor voltage (C00052) 616
NNact filter time constant (C00497) 693
Network management (NMT) 232
Node address (node ID) 227
Number of encoder increments (C00420) 682
OOptimise response to setpoint changes 115, 124
Original application|Control source (C00008) 609
Oscill. damping - field weakening (C00236) 647
Oscillation damping influence (C00234) 647
Output frequency (C00058) 617
Override point of field weakening (C00080) 621
OxICurrent (C00437) 684
OxUVoltage (C00436) 684
OxU/IGain (C00434) 684Input value (C00439) 685Offset (C00435) 684
PParameterisable function blocks 445
PartitionOffset (C308) 652
PartitionSel (C309) 652
PartitionValue (C310) 652
Password1 (C304) 652
Password2 (C305) 652
PDO mapping 240
Port block LP_MciIn 245
Port block LP_MciOut 245
Port blocks LP_CanIn1 ... LP_CanIn3 241
Port blocks LP_CanOut1 ... LP_CanOut3 243
Position encoder selection (C00490) 692
Power section ID (C00093) 623
Power-on time meter (C00179) 642
Pre-defined error field (I-1003) 267
Printing the interconnection 488
Process data objects, cyclic 236
Process data objects, event-controlled 237
Process data objects, identifiers 237
Processing time 223
Producer heartbeat time (I-1017) 270
Product type code (C00203) 644
Production date (C206) 645
Profile dataAcceleration (C01303) 843Deceleration (C01304) 843Final speed (C01305) 843Position (C01301) 842Positioning mode (C01300) 842Sequence profile (C01307) 844Speed (C01302) 843S-ramp time (C01306) 844
RRamp rounding main setpoint (C00134) 628
Rated brake resistor power (C00130) 627
Rated device current (C00098) 623
Rated motor current (C00088) 622
Rated motor frequency (C00089) 622
Rated motor power (C00081) 621
Rated motor speed (C00087) 622
Rated motor torque (C00097) 623
Rated motor voltage (C00090) 622
RCOM error counter (C290) 651
Reduced brake chopper threshold (C00174) 641
Reference project 493
Reference setting 427
Reset of error message 301
Resp. LS_SetError_x (C00581) 698
Resp. to brake resist. overtemp. (C00574) 697
Resp. to CAN bus connection (C00592) 699
Resp. to CANx_IN monitoring (C00593) 700
Resp. to communication error with MCI (C01501) 844
Resp. to control word error (C00594) 700
Resp. to controller limitations (C00570) 696
Resp. to DC-bus voltage (C00600) 702
Resp. to device overload (Ixt) (C00604) 703
Resp. to earth fault (C00602) 703
Resp. to encoder wire breakage (C00586) 699
Resp. to fan failure (C00566) 695
Resp. to heatsink temp. > shutdown temp. -5°C (C00582) 698
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 877
8400 HighLine C | Software ManualIndex
Resp. to mains phase failure (C00565) 695
Resp. to max. speed at switch. freq. (C00588) 699
Resp. to max. speed reached (C00607) 703
Resp. to maximum current (C00609) 704
Resp. to maximum torque (C00608) 703
Resp. to motor overload (I²xt) (C00606) 703
Resp. to motor overtemp. PTC (C00585) 698
Resp. to motor phase failure (C00597) 701
Resp. to open circuit AINx (C00598) 702
Resp. to peak current (C00569) 696
Resp. to speed controller limited (C00567) 696
Resp. to speed monitoring (C00579) 697
Resp. to switching frequency reduction (C00590) 699
Resp. too frequent AutoFailReset (C00189) 643
Response for brake resistor control (C00175) 641
RPDO1 communication parameter (I-1400) 274
RPDO1 mapping parameter (I-1600) 277
RPDO2 communication parameter (I-1401) 275
RPDO2 mapping parameter (I-1601) 277
RPDO3 communication parameter (I-1402) 276
RPDO3 mapping parameter (I-1602) 278
Running time (C00180) 642
Runtime measurement (C311) 652
SSafety instructions 21
SCDepth of current setpoint filter (C00272) 650Field precontrol (C00576) 697Filter time const. DC detect. (C00280) 651Freq. current setpoint filter (C00270) 650Max. acceleration change (C00274) 650max. output voltage (C00276) 651Settings (C00079) 620Tdn speed controller (C00072) 619Tn field controller (C00078) 620Tn field weakening controller (C00578) 697Vp field controller (C00077) 620Vp field weakening controller (C00577) 697Width of current setpoint filter (C00271) 650
Scaling of physical units 448
SDO1 server parameter (I-1200) 271
SDO2 server parameter (I-1201) 272
Select control mode (C00007) 609
Select motor control (C00006) 608
Select. of BU oscillos. channels (C750) 782
Serial number (C00204) 644
Service code - clamp threshold (C1763) 846
Service code - difference threshold UG (C1765) 846
Service code (C468) 688
Service code inverter charact. (C1751) 846
Service par. - clamp time (C1764) 846
Service Par. TCR factor (C1755) 846
Service Par. TCR function (C1752) 846
Setpoint arithmetic (C00190) 643
Setpoint precontrol filtering (C00275) 651
Setting the baud rate 225
Setting the error response 296
Setting the node address 225
Short overview of error messages 303
Signal source assignment 744
Signal type entry 448
Slip comp. (C00021) 612
SLVCCross-current controller gain (C00986) 822Field controller gain (C00985) 822Tn torque controller (C265) 650
Smooth start-up and quick stop of the drive 422
Speed encoder selection (C00495) 692
Speed limitation (C00909) 820
S-ramp time PT1 (C00182) 642
Status - brake output BD (C00117) 626
Status displays 55
Status of last device command (C00003) 607
Status transitions 231
Status word (C00150) 631
Status word 2 (C00155) 632
Status-determining error (C00168) 639
Stuff-bit error 259
Switching cycles (C00177) 641
Switching freq. reduct. (temp.) (C00144) 631
Switching frequency (C00018) 612
Sync correction increments (C01124) 825
Sync cycle time setpoint (C01121) 824
Sync phase position (C01122) 824
Sync signal source (C01120) 824
Sync window (C01123) 824
Synchronisation of process data objects 237
SYS_call table (C458) 688
System blocks 584
System bus 219
System error messages 298
SystemFail-Adr (C315) 652
SystemFail-Info (C316) 652
TTask selection 452
Technology applications 319
Thermal capacity of brake resistor (C00131) 627
Thermal motor load (I²xt) (C00066) 618
Ti current controller (C00076) 620
Ti speed controller (C00071) 619
Torque (C00056) 617
Torque feedforward control 115, 124
TPDO1 communication parameter (I-1800) 279
TPDO1 mapping parameter (I-1A00) 283
TPDO2 communication parameter (I-1801) 281
TPDO2 mapping parameter (I-1A01) 283
8400 HighLine C | Software ManualIndex
878 L Firmware 02.00 - DMS EN 3.0 - 05/2009
TPDO3 communication parameter (I-1802) 282
TPDO3 mapping parameter (I-1A02) 284
Transmission mode CAN Rx PDOs (C00323) 653
Transmission mode CAN TxPDOs (C00322) 653
Transmission type 235
UUser data 229, 248
User menu (C00517) 694
VVFC
Limitation V/f +encoder (C00971) 821Ti V/f +encoder (C00973) 821Time const. - slip compens. (C00966) 821V/f base frequency (C00015) 611Vmin boost (C00016) 611Vp V/f +encoder (C00972) 821
Vp current controller (C00075) 619
Vp speed controller (C00070) 618
WWatchdogTimeMax (C317) 653
L 879
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© 05/2009
Lenze Drives GmbHBreslauer Straße 3D-32699 ExtertalGermany
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EDS84AVHCxx 13292591 EN 3.0 TD06
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