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9300 Servo PLC

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L
Manual

Global Drive
9300 Servo PLC
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This Manual for the Drive PLC Developer Studio as from V01.00 is valid for the following
Lenze automation systems:
Automation system Type as from hardware version as from software version
9300 Servo PLC EVS93XX-xl 2l 02
9300 Servo PLC EVS93XX-xT 2K 10

Important Note :
The software is made available to the user in the currently existing form. All risks with regard to the quality and the results arising from its
use remain the responsibility of the user. The user must implement the appropriate security precautions against possible erroneous
application.
We do not accept any responsibilty for direct or consequential damages, such as loss of profits, loss of orders, or effects on the course of
business of any kind.

. 2000 Lenze GmbH & Co KG

No part of this documentation may be copied or made available to third parties without the express written permission of
Lenze GmbH & Co KG.
We have take great care in assembling the information in this documentation, and checked that it corresponds to the hardware and software
that is described. Nevertheless, we cannot guarantee that there are no discrepancies. We do not accept any legal responsibility or liability
for damage that may thereby ensue. Any necessary corrections will be implemented in subsequent versions.
Windows, Windows NT and MS-DOS are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other
countries.
IBM and VGA are registered trademarks of International Business Machines, Inc.
All other designations are trade names of their owners.
Version 1.4 09/2000 TD27
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9300 Servo PLC

Contents

1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.1 Conventions in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.2 Pictograms in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.4 What’s new? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Lenze software guidelines for variable names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.1 Hungarian Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.1.1 Recommendation for designating variable types . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.1.2 Designation of the signal type in the variable name . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.2.1.3 Special handling of system variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

2 System blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Access through absolute addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Module numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.3 Definition of the system-block inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2 Automation interface (AIF1_IO_AutomationInterface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.1 Inputs_AIF1 (AIF1_IN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.2 Outputs_AIF1 (AIF1_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.3 Automation interface (AIF2_IO_AutomationInterface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.3.1 Inputs_AIF2 (AIF2_IN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.3.2 Outputs_AIF2 (AIF2_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.4 Automation interface (AIF3_IO_AutomationInterface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.4.1 Inputs_AIF3 (AIF3_IN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.4.2 Outputs_AIF3 (AIF3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
2.5 AIF_IO_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
2.6 Analog inputs/outputs 1 (ANALOG1_IO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.6.1 Inputs_ANALOG1 (AIN1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.6.2 Outputs_ANALOG1 (AOUT1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.7 Analog inputs/outputs 2 (ANALOG2_IO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2.7.1 Inputs_ANALOG2 (AIN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2.7.2 Outputs_ANALOG2 (AOUT2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
2.8 Drive control (DCTRL_DriveControl) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
2.8.1 Quickstop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
2.8.2 Operation disabled (DISABLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
2.8.3 Controller inhibit “ControllerInhibit” (CINH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
2.8.4 TRIP-SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
2.8.5 TRIP-RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
2.8.6 DCTRL_wFaultNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.8.7 DCTRL_bExternalFault_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.8.8 Controller state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.8.9 Output of digital status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
2.8.10 Control word and status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30

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9300 Servo PLC

Contents

2.9 Digital master frequency input (DF_IN_DigitalFrequency) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31

2.9.1 Digital frequency input X9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32
2.9.2 Technical data for the connection of X9 and X10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
2.9.3 Touch-Probe (TP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
2.10 Digital frequency output (DF_OUT_DigitalFrequency) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
2.10.1 Output signals on X10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
2.10.2 Output of an analog signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
2.10.3 Output of a speed signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
2.10.4 Encoder simulation of the resolver with zero track in resolver zero position . . . . . . . . . . . . . . . 2-40
2.10.5 Direct output of X8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.10.6 Direct output of X9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.10.7 Technical data for the connection of X9 and X10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
2.11 Digital inputs/outputs (DIGITAL_IO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43
2.11.1 Inputs_DIGITAL (DIGIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43
2.11.2 Outputs_DIGITAL (DIGOUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-44
2.12 Free Codes (FCODE_FreeCodes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-45
2.13 Internal motor control (MCTRL_MotorControl) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
2.13.1 Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-50
2.13.2 Additional torque setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
2.13.3 Torque limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
2.13.4 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
2.13.5 Torque control with speed restriction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-52
2.13.6 Speed-setpoint restriction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-53
2.13.7 Phase-angle controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-53
2.13.8 Quickstop QSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-54
2.13.9 Field weakening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-54
2.13.10 Chopping frequency changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-55
2.13.11 Touch-Probe (TP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-56
2.13.12 System marker MCTRL_nNmaxC11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57
2.13.13 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57
2.13.13.1 Undervoltage (LU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57
2.13.13.2 Overvoltage (OU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-58
2.13.13.3 EarthFault (monitoring for earth fault OC2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-59
2.13.13.4 ShortCircuit (monitoring for a short-circuit OC1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-59
2.13.13.5 TMot>SetValue (motor-temperature monitoring OH3 - fixed) . . . . . . . . . . . . . . . . 2-60
2.13.13.6 TMot>C0121 (motor-temperature monitoring OH7 - adjustable) . . . . . . . . . . . . . . 2-60
2.13.13.7 PTCOverTemp (motor-temperature monitoring OH8) . . . . . . . . . . . . . . . . . . . . . . . 2-61
2.13.13.8 Overcurrent diagram for fault signal OC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-61
2.13.13.9 Resolver monitoring for wire breakage Sd2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62
2.13.13.10 Heatsink monitoring OH4 (adjustable) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-63
2.13.13.11 Heatsink monitoring OH (fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-63
2.13.13.12 Plant speed monitoring NMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-64
2.14 Statebus (STATEBUS_IO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-65
2.15 System markers (SYSTEM_FLAGS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-67

ii 9300ServoPLC EN 1.4
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1.1.2 Pictograms in this manual

Use of Signal words
Pictographs
Warning of Stop! Warns of potential damage to material.
material damage Possible consequences if disregarded:
Damage of the controller/drive system or its environment.
Other notes Tip! This note designates general, useful notes.
If you observeit, handling of the controller/drive system is made easier.

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9300 Servo PLC

Preface and general information

1.1.3 Terminology used

Term In the following text used for
FB Function block
SB System block
Parameter codes Codes for setting the functionality of a function block
GDC Global Drive Control (parameterization program from Lenze)

1.1.4 What’s new?

Version ID-No. Changes
1.4 07/2000 revised edition for the Drive PLC Developer Studio V01.00

1-2 9300ServoPLC EN 1.4

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Preface and general information

1.2 Lenze software guidelines for variable names

The previous concepts for Lenze drive controllers were based on codes that represented the input
and output signals, and the parameters of function blocks.
• For the sake of clarity, names were defined for the codes in the documentation.
• In addition, the signal types were defined by graphical symbols.
The user could see at a glance which kind of signal (analog, phase-angle etc.) had to be present at
the particular interface.

The concept for the new automation system does not use direct codes in the
programming. The IEC1131-3 standard is used instead.
• This standard is based on a structure of variable names.
• If the user applies variables in his project, then he can name the variables as he chooses.
In order to avoid the growth of a multitude of different conventions for naming variables in existing
and future projects and function libraries that are programmed by Lenze personnel, we have set up
software guidelines that must be followed by all Lenze staff.
In this convention for creating variable names, Lenze keeps to the Hungarian Notation, that has been
specifically expanded by Lenze.
If you make use of Lenze-specific functions or function blocks, you will immediately be able to see,
for instance, which data type you must transfer to a function block, and which type of data you will
receive as an output value.

1.2.1 Hungarian Notation

These conventions are used so that the most significant characteristics of a program variable can
instantly be recognized from its name.

Variable names
consist of
• a prefix (optional)
• a data-type entry
• and an identifier
The prefix and data-type entry are usually formed by one or two characters. The identifier (the
“proper” name) should indicate the application, and is therefore usually somewhat longer.

Prefix examples
Prefix Meaning
a array (combined type), field
p pointer

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Preface and general information

Examples of the data-type entry

Examples of a data-type Meaning

b Bool
by Byte
r Integer
w Word
dn Double-integer
dw Double Word
s String
f Real (Float)
sn Short Integer
t Time
un Unsigned Integer
udn Unsigned Double Integer
usn Unsigned Short Integer

Identifier (the proper variable name)

• An identifier begins with a capital letter.
• If an identifier is assembled from several ”words”, then each “word” must start with a capital
letter.
• All other letters are written in lower case.

Examples:
Array of integers anJogValue[10];
Bool bIsEmpty;
Word wNumberOfValues;
Integer nLoop ;
Byte byCurrentSelectedJogValue;

1.2.1.1 Recommendation for designating variable types

In order to be able to recognize the type of variable in a program according to the name, it makes
sense to use the following designations, which are placed in front of the proper variable name and
separated from it by an underline stroke:
I_<Variablename> VAR_INPUT
Q_<Variablename> VAR_OUTPUT
IQ_<Variablename> VAR_IN_OUT
R_<Variablename> VAR RETAIN
C_<Variablename> VAR CONSTANT
CR_<Variablename> VAR CONSTANT RETAIN
g_<Variablename> VAR_GLOBAL
gR_<Variablename> VAR_GLOBAL RETAIN
gC_<Variablename> VAR_GLOBAL CONSTANT
gCR_<Variablename> VAR_GLOBAL CONSTANT RETAIN

Example
for a global array of type integer, that includes fixed setpoints (analog) for a speed setting:
g_anFixSetSpeedValue_a

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1.2.1.2 Designation of the signal type in the variable name

The inputs and outputs of the Lenze function blocks each have a specific signal type assigned. These
may be: digital, analog, position or speed signals.
For this reason, each variable name has an ending attached that provides information on the type of
signal.
Signal type Ending Previous designation
analog _a (analog) H
digital _b (binary) G
phase-angle difference or speed (rot.) _v (velocity) F
phase-angle or position _p (position) E

Tip!
Normalizing to signal type phase-angle difference/speed: 16384 (INT) 15000 rpm
Normalizing to signal type analog: 16384 100 % value under [C0011] = Nmax
Normalizing to signal type angle or position: 65536 1 motor turn

Examples:

Variable name Signal type Variable type

nIn_a Analog input value Integer
dnPhiSet_p Phase signals Double-integer
bLoad_b Binary value (TRUE/FALSE) Bool
nDigitalFrequencyIn_v Speed input value Integer

1.2.1.3 Special handling of system variables

System variables require special handling, since the system functions are only available for the user
as I/O connections in the control configuration.
In order to be able to access a system variable quickly during programming, the variable name must
include a label for the system function.
For this reason, the name of the corresponding system block is placed before the name of the
variable.

Examples:
AIN1_nIn_a
CAN1_bCtrlTripSet_b
DIGIN_bIn3_b

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1-6 9300ServoPLC EN 1.4

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System blocks
2.1 Introduction

2 System blocks

2.1 Introduction
For a long time, Lenze has followed the principle of describing inverter functions with the aid of
function blocks (FB’s). This principle may also be found in the IEC1131-3 standard.
• The function library includes functions that you can apply as software functions in your
project.
• In addition, quasi-hardware functions are available, as system blocks. (SBs).

System blocks - principle:

The system-block principle can be explained very well by a PLC system in a rack:
• One element in the rack is the CPU, and next to it there can also be found digital I/Os, analog
I/Os, counter cards, positioning cards etc.

CPU x x x x x x

Abb. 2-1 Principle of a PLC system (x = expansion cards)

• The CPU can access the inserted cards directly, and process the resulting information.
• The individual expansion cards each have a fixed address for access.

With the Lenze Automation System, the system blocks correspond to these inserted cards!
System blocks are thus special (quasi-hardware)function blocks that are permanently integrated into
the run-time system (e.g. 9300 Servo PLC, Drive PLC).
• These function blocks can also partially address real hardware.
• The assignment/identification of the system blocks is made through module numbers.
• The access to the inputs/outputs of the system blocks is made directly through I/O-variables
or fixed memory addresses.

Example:
On example of a system block is the digital I/O-function block “DIGITAL_IO”.
• Access to the digital input 1 of this SB can be made through the absolute address
(e.g. %IX1.0.1) or via the corresponding I/O-variable (DIGIN_bIn1_b ).

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System blocks
2.1 Introduction

2.1.1 Access through absolute addresses

The access to system blocks through absolute addresses is made in accordance with the IEC1131-3
standard.
• For inputs: %IXa.b.c
• For outputs: %QXa.b.c
( a = module number, b = word address and c = bit adress)

Example: system block DIGITAL_IO (DIGIN):

VariableName DataType SignalType Address DIS DIS format Note
DIGIN_bCInh_b Bool binary %IX1.0.0 - -
DIGIN_bIn1_b Bool binary %IX1.0.1 C0443 bin
DIGIN_bIn2_b Bool binary %IX1.0.2 C0443 bin
DIGIN_bIn3_b Bool binary %IX1.0.3 C0443 bin
DIGIN_bIn4_b Bool binary %IX1.0.4 C0443 bin
DIGIN_bIn5_b Bool binary %IX1.0.5 C0443 bin

2.1.2 Module numbers

The system blocks of the automation system 9300 Servo PLC carry the following module numbers:

Module number System block

1 DIGITAL_IO
11 ANALOG1_IO
12 ANALOG2_IO
21 DF_IN_DigitalFrequency
22 DF_OUT_DigitalFrequency
31 CAN1_IO
32 CAN2_IO
33 CAN3_IO
41 AIF1_IO_AutomationInterface
42 AIF2_IO_AutomationInterface
43 AIF3_IO_AutomationInterface
51 STATEBUS_IO
101 CAN_Management
102 CAN_Synchronization
121 DCTRL_DriveControl
131 MCTRL_MotorControl
141 FCODE_FreeCodes
151 SYSTEM_FLAGS
161 AIF_IO_Management

The module number is a part of the absolute address of an SB.

• Example of an input address: %IXa.b.c
( a = module number, b = word address and c = bit adress)

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System blocks
2.1 Introduction

2.1.3 Definition of the system-block inputs/outputs

In order to implement a connection of the user program with the hardware, system blocks are joined
to program-organisation elements (POEs):

POE-Input POE-Output

SB-Output SB-Input

SB POE SB

Abb. 2-2 Connecting system blocks to a program-organisation element (schematic)

POE Program-organisation element

SB System block

Tip!
The assignments as inputs and outputs are always made from the program viewpoint!
This means that logical system-block outputs are seen by the POEs as hardware-side inputs, and
system-block inputs are seen as outputs.

Example: system block DIGITAL_IO (DIGIN):

For example, to connect the digital input 1 of the PLC run/stop to a POE, the output 1 of the system
block DIGITAL_IO must be connected to an input of the POE:
DCTRL -X5/28 SB-OUT POE-OUT DIGOUT
X5 DIGIN DIGOUT_bOut1_b
DIGIN_bCInh_b C0118/1...4 X5
28 DIGOUT_bOut2_b
DIGIN_bIn1_b
A1
E1 DIGOUT_bOut3_b 0
C0114/1...5 DIGIN_bIn2_b
DIGIN_bIn3_b
POE SB-IN DIGOUT_bOut4_b 1 A2
E2 1
0
DIGIN_bIn4_b A3
E3 1 POE-IN C0444/1
1 DIGIN_bIn5_b C0444/2
E4 C0444/3 A4
C0443 C0444/4
E5

Abb. 2-3 Connecting the system block DIGITAL_IO to a POE

Access to the digital input 1 can only be made through the absolute address %IX1.0.1 or through
the system-variable names DIGIN_bIn1_b :
%IX1.0.1 POE DIGIN_bIn1_b POE

Tip!
According to IEC1131, only one copy of the digital input can be transferred, and this system variable
must be of type VAR_INPUT

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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)

2.2 Automation interface (AIF1_IO_AutomationInterface)

2.2.1 Inputs_AIF1 (AIF1_IN)

Automation interface (module number 41)

This SB is used as an interface for input signals from plugged-in fieldbus modules (e.g. INTERBUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• The process image is
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

A IF 1 _ IN 1 6 B it
A I F 1 _ w D c t r lC tr l

A IF 1 _ b C tr lQ u ic k s to p _ b
A I F 1 _ b C tr lD is a b le _ b
A IF 1 _ b C tr lC In h ib it_ b
A IF 1 _ b C tr lT r ip S e t_ b
B it 0
A IF 1 _ b C tr lT r ip R e s e t_ b
A IF 1 _ b C tr lB 0 _ b
A IF 1 _ b C tr lB 1 _ b
A IF 1 _ b C tr lB 2 _ b
1 6
A IF 1 _ b C tr lB 4 _ b
B y te 1 ,2

b in a r y
s ig n a ls A IF 1 _ b C tr lB 5 _ b
A IF 1 _ b C tr lB 6 _ b
A IF 1 _ b C tr lB 7 _ b
A IF 1 _ b C tr lB 1 2 _ b
B it 1 5 A IF 1 _ b C tr lB 1 3 _ b
A IF 1 _ b C tr lB 1 4 _ b
A IF 1 _ b C tr lB 1 5 _ b

C 0 1 3 6 /3
3 ,4

A IF 1 _ n In W 1 _ a
B y te

1 6 B it
C 0 8 5 6 /1 A IF 1 _ n In W 2 _ a
A u to m a tio n 1 6 B it
In te rfa c e C 0 8 5 6 /2
A IF 1 _ n In W 3 _ a
1 6 B it

C 0 8 5 6 /3 A IF 1 _ b In B 0 _ b

C 0 8 5 5 /1 A IF 1 _ b In B 2 _ b
...
5 ,6

1 6
b in a r y A IF 1 _ b In B 1 4 _ b
B y te

s ig n a ls
A IF 1 _ b In B 1 5 _ b

A IF 1 _ b In B 1 6 _ b

C 0 8 5 5 /2 A IF 1 _ b In B 1 7 _ b
...

1 6
b in a r y A IF 1 _ b In B 3 0 _ b
s ig n a ls
A IF 1 _ b In B 3 1 _ b
7 ,8
B y te

1 6 B it
L o w W o rd
A IF 1 _ d n In D 1 _ p

1 6 B it
C 0 8 5 7
H ig h W o r d

Abb. 2-4 Inputs_AIF1 (AIF1_IN)

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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF1_wDctrlCtrl Word - %IX41.0 C0136/3 hex
AIF1_nInW1_a Integer analog %IW41.1 C0856/1 dec [%] +16384 = +100 %
AIF1_nInW2_a Integer analog %IW41.2 C0856/2 dec [%] +16384 = +100 %
AIF1_nInW3_a Integer analog %IW41.3 C0856/3 dec [%] +16384 = +100 %
AIF1_bCtrlQuickstop_b Bool binary %IX41.0.3 - -
AIF1_bCtrlDisable_b Bool binary %IX41.0.8 - -
AIF1_bCtrlCInhibit_b Bool binary %IX41.0.9 - -
AIF1_bCtrlTripSet_b Bool binary %IX41.0.10 - -
AIF1_bCtrlTripReset_b Bool binary %IX41.0.11 - -
AIF1_bCtrlB0_b Bool binary %IX41.0.0 C0136/3 bin
AIF1_bCtrlB1_b Bool binary %IX41.0.1 C0136/3 bin
AIF1_bCtrlB2_b Bool binary %IX41.0.2 C0136/3 bin
AIF1_bCtrlB3_b Bool binary %IX41.0.3 C0136/3 bin
AIF1_bCtrlB4_b Bool binary %IX41.0.4 C0136/3 bin
AIF1_bCtrlB5_b Bool binary %IX41.0.5 C0136/3 bin
AIF1_bCtrlB6_b Bool binary %IX41.0.6 C0136/3 bin
AIF1_bCtrlB7_b Bool binary %IX41.0.7 C0136/3 bin
AIF1_bCtrlB12_b Bool binary %IX41.0.12 C0136/3 bin
AIF1_bCtrlB13_b Bool binary %IX41.0.13 C0136/3 bin
AIF1_bCtrlB14_b Bool binary %IX41.0.14 C0136/3 bin
AIF1_bCtrlB15_b Bool binary %IX41.0.15 C0136/3 bin
AIF1_bInB0_b Bool binary %IX41.2.0 C0855/1 hex
AIF1_bInB1_b Bool binary %IX41.2.1 C0855/1 hex
AIF1_bInB2_b Bool binary %IX41.2.2 C0855/1 hex
AIF1_bInB3_b Bool binary %IX41.2.3 C0855/1 hex
AIF1_bInB4_b Bool binary %IX41.2.4 C0855/1 hex
AIF1_bInB5_b Bool binary %IX41.2.5 C0855/1 hex
AIF1_bInB6_b Bool binary %IX41.2.6 C0855/1 hex
AIF1_bInB7_b Bool binary %IX41.2.7 C0855/1 hex
AIF1_bInB8_b Bool binary %IX41.2.8 C0855/1 hex
AIF1_bInB9_b Bool binary %IX41.2.9 C0855/1 hex
AIF1_bInB10_b Bool binary %IX41.2.10 C0855/1 hex
AIF1_bInB11_b Bool binary %IX41.2.11 C0855/1 hex
AIF1_bInB12_b Bool binary %IX41.2.12 C0855/1 hex
AIF1_bInB13_b Bool binary %IX41.2.13 C0855/1 hex
AIF1_bInB14_b Bool binary %IX41.2.14 C0855/1 hex
AIF1_bInB15_b Bool binary %IX41.2.15 C0855/1 hex

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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF1_bInB16_b Bool binary %IX41.3.0 C0855/2 hex
AIF1_bInB17_b Bool binary %IX41.3.1 C0855/2 hex
AIF1_bInB18_b Bool binary %IX41.3.2 C0855/2 hex
AIF1_bInB19_b Bool binary %IX41.3.3 C0855/2 hex
AIF1_bInB20_b Bool binary %IX41.3.4 C0855/2 hex
AIF1_bInB21_b Bool binary %IX41.3.5 C0855/2 hex
AIF1_bInB22_b Bool binary %IX41.3.6 C0855/2 hex
AIF1_bInB23_b Bool binary %IX41.3.7 C0855/2 hex
AIF1_bInB24_b Bool binary %IX41.3.8 C0855/2 hex
AIF1_bInB25_b Bool binary %IX41.3.9 C0855/2 hex
AIF1_bInB26_b Bool binary %IX41.3.10 C0855/2 hex
AIF1_bInB27_b Bool binary %IX41.3.11 C0855/2 hex
AIF1_bInB28_b Bool binary %IX41.3.12 C0855/2 hex
AIF1_bInB29_b Bool binary %IX41.3.13 C0855/2 hex
AIF1_bInB30_b Bool binary %IX41.3.14 C0855/2 hex
AIF1_bInB31_b Bool binary %IX41.3.15 C0855/2 hex
AIF1_dnInD1_p Double integer position %ID41.1 C0857 dec [inc] 65536 = 1 revolution

Function
The input signals of the 8 byte user data of the AIF-object are converted into corresponding signal
types.

Byte 1 and 2
Byte 1,2 can be used simultaneously as
• binary information (up to 16 bits),
• as word (e.g. as control word)

Bytes 3 and 4
Bytes 3-4 form the signal for AIF1_nInW1_a.

Bytes 5-6 and bytes 7-8

The meaning of these user data can be selected among different signal types. Depending on the
requirement, these data can be evaluated as up to 2 integer signals, 32 boolean/digital signals or one
double-integer signal.

Address range from byte 1 - 7

Byte Address
1, 2 %IB41.0 and %IB41.1
3, 4 %IB41.2 and %IB41.3
5, 6 %IB41.4 and %IB41.5
7, 8 %IB41.6 and %IB41.7

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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)

2.2.2 Outputs_AIF1 (AIF1_OUT)

Automation interface (module number 41)

This SB is used as an interface for output signals from plugged-in fieldbus modules (e.g. INTERBUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• The process image is
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

A IF 1 _ O U T B it 0

A IF 1 _ w D c tr lS ta t

B y te 1 ,2
1 6 B it

A IF 1 _ n O u tW 1 _ a B it 1 5

C 0 8 5 8 /1
A IF 1 _ n O u tW 2 _ a

3 ,4
C 0 8 5 8 /2 A u to m a tio n

B y te
A IF 1 _ n O u tW 3 _ a
In te rfa c e

C 0 8 5 8 /3
A IF 1 _ b F D O 0 _ b
5 ,6
1 6 B it
...

A IF 1 _ b F D O 1 5 _ b L o w W o rd
B y te

A IF 1 _ b F D O 1 6 _ b
1 6 B it C 0 1 5 1 /4
...

A IF 1 _ b F D O 3 1 _ b H ig h W o r d
7 ,8

1 6 B it
L o w W o rd
B y te

A IF 1 _ d n O u tD 1 _ p

1 6 B it
C 0 8 5 9 H ig h W o r d

Abb. 2-5 Outputs_AIF1 (AIF1_OUT)

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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF1_wDctrlStat Word - %QW41.0 - -
AIF1_nOutW1_a Integer analog %QW41.1 C0858/1 dec [%] +100 % = +16384
AIF1_nOutW2_a Integer analog %QW41.2 C0858/2 dec [%] +100 % = +16384
AIF1_nOutW3_a Integer analog %QW41.3 C0858/3 dec [%] +100 % = +16384
AIF1_bFDO0_b Bool binary %QX41.2.0 C0151/4 hex Display
sp ay code in hex
e as
AIF1_bFDO1_b Bool binary %QX41.2.1 C0151/4 hex d bl
double-wordd
AIF1_bFDO2_b Bool binary %QX41.2.2 C0151/4 hex
AIF1_bFDO3_b Bool binary %QX41.2.3 C0151/4 hex
AIF1_bFDO4_b Bool binary %QX41.2.4 C0151/4 hex
AIF1_bFDO5_b Bool binary %QX41.2.5 C0151/4 hex
AIF1_bFDO6_b Bool binary %QX41.2.6 C0151/4 hex
AIF1_bFDO7_b Bool binary %QX41.2.7 C0151/4 hex
AIF1_bFDO8_b Bool binary %QX41.2.8 C0151/4 hex
AIF1_bFDO9_b Bool binary %QX41.2.9 C0151/4 hex
AIF1_bFDO10_b Bool binary %QX41.2.10 C0151/4 hex
AIF1_bFDO11_b Bool binary %QX41.2.11 C0151/4 hex
AIF1_bFDO12_b Bool binary %QX41.2.12 C0151/4 hex
AIF1_bFDO13_b Bool binary %QX41.2.13 C0151/4 hex
AIF1_bFDO14_b Bool binary %QX41.2.14 C0151/4 hex
AIF1_bFDO15_b Bool binary %QX41.2.15 C0151/4 hex
AIF1_bFDO16_b Bool binary %QX41.3.0 C0151/4 hex
AIF1_bFDO17_b Bool binary %QX41.3.1 C0151/4 hex
AIF1_bFDO18_b Bool binary %QX41.3.2 C0151/4 hex
AIF1_bFDO19_b Bool binary %QX41.3.3 C0151/4 hex
AIF1_bFDO20_b Bool binary %QX41.3.4 C0151/4 hex
AIF1_bFDO21_b Bool binary %QX41.3.5 C0151/4 hex
AIF1_bFDO22_b Bool binary %QX41.3.6 C0151/4 hex
AIF1_bFDO23_b Bool binary %QX41.3.7 C0151/4 hex
AIF1_bFDO24_b Bool binary %QX41.3.8 C0151/4 hex
AIF1_bFDO25_b Bool binary %QX41.3.9 C0151/4 hex
AIF1_bFDO26_b Bool binary %QX41.3.10 C0151/4 hex
AIF1_bFDO27_b Bool binary %QX41.3.11 C0151/4 hex
AIF1_bFDO28_b Bool binary %QX41.3.12 C0151/4 hex
AIF1_bFDO29_b Bool binary %QX41.3.13 C0151/4 hex
AIF1_bFDO30_b Bool binary %QX41.3.14 C0151/4 hex
AIF1_bFDO31_b Bool binary %QX41.3.15 C0151/4 hex
AIF1_dnOutD1_p Double integer position %QD41.1 C0859 dec [inc] 1 revolution = 65536

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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)

Function
The input signals of this function block are copied to the 8 byteuser data of the AIF object and applied
to the plugged-in fieldbus module.

Byte 1 and 2
Byte 1, 2 can be used as word information.

Bytes 3 and 4
You can freely link bytes 3 and 4 with variables of the corresponding data type, as a 16-bit data word
(quasi-analog signal).

Bytes 5-6 and bytes 7-8

It is possible, using different variables, to write simultaneously to bytes 5-6 or bytes 7-8. Avoid this
situation, since the data in bytes 5-6 or bytes 7-8 are then not unambiguous.
The variables ... write data simultaneously to ...
AIF1_nOutW2_a Byte
y e 5 and
a d6
AIF1_bFDO0_b ... AIF1_bFDO15_b
AIF1_dnOutD1_p
AIF1_nOutW3_a Bytes
y es 7,, 8
AIF1_bFDO16_b ... AIF1_bFDO31_b
AIF1_dnOutD1_p

Example:
If you write to bytes 3-4, using the variables AIF1_nOutW3_a and AIF1_dnOutD1_p then bytes 7-8
will be rewritten every time a variable is processed. The data in bytes 7-8 are thus not unambiguous.

Address range from byte 1 - 7

Byte Address
1, 2 %QB41.0 and %QB41.1
3, 4 %QB41.2 and %QB41.3

5, 6 %QB41.4 and %QB41.5

7, 8 %QB41.6 and %QB41.7

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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)

2.3 Automation interface (AIF2_IO_AutomationInterface)

2.3.1 Inputs_AIF2 (AIF2_IN)

Automation interface (module number 42)

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

A IF 2 _ IN
A IF 2 _ n In W 1 _ a
1 6 B it
A IF 2 _ n In W 2 _ a
B it 0 1 6 B it
A IF 2 _ b In B 0 _ b

A IF 2 _ b In B 1 _ b
B y te 1 ,2

1 6
...

b in a r y
A IF 2 _ b In B 1 4 _ b
s ig n a ls
A IF 2 _ b In B 1 5 _ b

A IF 2 _ b In B 1 6 _ b
B it 1 5
A IF 2 _ b In B 1 7 _ b

1 6
...

b in a r y A IF 2 _ b In B 3 0 _ b
B y te 3 ,4

s ig n a ls A IF 2 _ b In B 3 1 _ b

1 6 B it
L o w W o rd
A u to m a tio n A IF 2 _ d n In D 1 _ p
In te rfa c e
1 6 B it
H ig h W o r d

A IF 2 _ n In W 3 _ a
B y te 5 ,6

1 6 B it

A IF 2 _ n In W 4 _ a
B y te 7 ,8

1 6 B it

Abb. 2-6 Inputs_AIF2 (AIF2_IN)

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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF2_nInW1_a Integer analog %IW42.0 +16384 = +100 %
AIF2_nInW2_a Integer analog %IW42.1 +16384 = +100 %
AIF2_nInW3_a Integer analog %IW42.2 +16384 = +100 %
AIF2_nInW4_a Integer analog %IW42.3 +16384 = +100 %
AIF2_bInB0_b Bool binary %IX42.0.0
.. .. .. ..
.. .. .. ..
AIF2_bInB15_b Bool binary %IX42.0.15
AIF2_bInB16_b Bool binary %IX42.1.0
.. .. .. ..
.. .. .. ..
AIF2_bInB31_b Bool binary %IX42.1.15
AIF2_dnInD1_p Double integer position %ID42.0 65536 = 1 revolution

Function
The input signals of the 8 byte user data of the AIF-object are converted into corresponding signal
types.

Bytes 1-2 and bytes 3-4

• Byte 1, 2 and byte 3, 4 can be used as binary information (2 x 16 bit)
• Byte 1, 2 and byte 3, 4 can be used as double word (32 bit)

Byte 5 and 6
Bytes 5, 6 form the signal for AIF2_nInW3_a.

Bytes 7, 8
Bytes 7, 8 form the signal for AIF2_nInW4_a.

Address range from byte 1 - 7

Byte Address
1, 2 %IB42.0 and %IB42.1
3, 4 %IB42.2 and %IB42.3
5, 6 %IB42.4 and %IB42.5
7, 8 %IB42.6 and %IB42.7

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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)

2.3.2 Outputs_AIF2 (AIF2_OUT)

Automation interface (module number 42)

This SB is used as an interface for output signals to the plugged-in fieldbus modules (e.g. INTERBUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• The process image is
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

A IF 2 _ O U T
B it 0

A IF 2 _ n O u tW 1 _ a

A IF 2 _ n O u tW 2 _ a B y te 1 ,2

B it 1 5
A IF 2 _ b F D O 0 _ b
1 6 B it
...

A IF 2 _ b F D O 1 5 _ b L o w W o rd
A IF 2 _ b F D O 1 6 _ b
B y te 3 ,4

1 6 B it
...

A IF 2 _ b F D O 3 1 _ b H ig h W o r d

1 6 B it A u to m a tio n
L o w W o rd B it 3 1
A IF 2 _ d n O u tD 1 _ p In te rfa c e
B it 0
1 6 B it
H ig h W o r d
A IF 2 _ n O u tW 3 _ a
B y te 5 ,6

B it 1 5
B it 0

A IF 2 _ n O u tW 4 _ a
B y te 7 ,8

B it 1 5

Abb. 2-7 Outputs_AIF2 (AIF2_OUT)

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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF2_nOutW1_a Integer analog %QW42.0 +100 % = +16384
AIF2_nOutW2_a Integer analog %QW42.1 +100 % = +16384
AIF2_nOutW3_a Integer analog %QW42.2 +100 % = +16384
AIF2_nOutW4_a Integer analog %QW42.3 +100 % = +16384
AIF2_bFDO0_b Bool binary %QX42.0.0
AIF2_bFDO1_b Bool binary %QX42.0.1
AIF2_bFDO2_b Bool binary %QX42.0.2
AIF2_bFDO3_b Bool binary %QX42.0.3
AIF2_bFDO4_b Bool binary %QX42.0.4
AIF2_bFDO5_b Bool binary %QX42.0.5
AIF2_bFDO6_b Bool binary %QX42.0.6
AIF2_bFDO7_b Bool binary %QX42.0.7
AIF2_bFDO8_b Bool binary %QX42.0.8
AIF2_bFDO9_b Bool binary %QX42.0.9
AIF2_bFDO10_b Bool binary %QX42.0.10
AIF2_bFDO11_b Bool binary %QX42.0.11
AIF2_bFDO12_b Bool binary %QX42.0.12
AIF2_bFDO13_b Bool binary %QX42.0.13
AIF2_bFDO14_b Bool binary %QX42.0.14
AIF2_bFDO15_b Bool binary %QX42.0.15
AIF2_bFDO16_b Bool binary %QX42.1.0
AIF2_bFDO17_b Bool binary %QX42.1.1
AIF2_bFDO18_b Bool binary %QX42.1.2
AIF2_bFDO19_b Bool binary %QX42.1.3
AIF2_bFDO20_b Bool binary %QX42.1.4
AIF2_bFDO21_b Bool binary %QX42.1.5
AIF2_bFDO22_b Bool binary %QX42.1.6
AIF2_bFDO23_b Bool binary %QX42.1.7
AIF2_bFDO24_b Bool binary %QX42.1.8
AIF2_bFDO25_b Bool binary %QX42.1.9
AIF2_bFDO26_b Bool binary %QX42.1.10
AIF2_bFDO27_b Bool binary %QX42.1.11
AIF2_bFDO28_b Bool binary %QX42.1.12
AIF2_bFDO29_b Bool binary %QX42.1.13
AIF2_bFDO30_b Bool binary %QX42.1.14
AIF2_bFDO31_b Bool binary %QX42.1.15
AIF2_dnOutD1_p Double integer position %QD42.0 1 revolution = 65536

9300ServoPLC EN 1.4 2-13

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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)

Function
The input signals of this function block are copied to the 8 byte user data of the AIF object and applied
to the plugged-in fieldbus module.

Bytes 1-2 and bytes 3-4

It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4. Avoid this
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
The variables ... write data simultaneously to ...
AIF2_nOutW1_a Byte
y e 1 and
a d2
AIF2_bFDO0_b ... AIF2_bFDO15_b
AIF2_dnOutD1_p
AIF2_nOutW2_a Bytes
y es 3 and
a d4
AIF2_bFDO16_b ... AIF2_bFDO31_b
AIF2_dnOutD1_p

Example:
If you write to bytes 3-4, using the variables AIF2_nOutW2_a and AIF2_dnOutD1_p then bytes 3-4
will be rewritten every time a variable is processed. The data in bytes 3-4 are thus not unambiguous.

Byte 5 and 6
You can freely link bytes 5 and 6 with variables of the corresponding data type, as a 16-bit data word
(quasi-analog signal).

Bytes 7, 8
You can freely link bytes 7 and 8 with variables of the corresponding data type, as a 16-bit data word
(quasi-analog signal).

Address range from byte 1 - 7

Byte Address
1, 2 %QB42.0 and %QB42.1
3, 4 %QB42.2 and %QB42.3

5, 6 %QB42.4 and %QB42.5

7, 8 %QB42.6 and %QB42.7

2-14 9300ServoPLC EN 1.4

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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)

2.4 Automation interface (AIF3_IO_AutomationInterface)

2.4.1 Inputs_AIF3 (AIF3_IN)

Automation interface (module number 43)

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

A IF 3 _ IN
A IF 3 _ n In W 1 _ a
1 6 B it
A IF 3 _ n In W 2 _ a
B it 0 1 6 B it
A IF 3 _ b In B 0 _ b

A IF 3 _ b In B 1 _ b
B y te 1 ,2

1 6
...

b in a r y
A IF 3 _ b In B 1 4 _ b
s ig n a ls
A IF 3 _ b In B 1 5 _ b

A IF 3 _ b In B 1 6 _ b
B it 1 5
A IF 3 _ b In B 1 7 _ b

1 6
...

b in a r y A IF 3 _ b In B 3 0 _ b
B y te 3 ,4

s ig n a ls A IF 3 _ b In B 3 1 _ b

1 6 B it
L o w W o rd
A u to m a tio n A IF 3 _ d n In D 1 _ p
In te rfa c e
1 6 B it
H ig h W o r d

A IF 3 _ n In W 3 _ a
B y te 5 ,6

1 6 B it

A IF 3 _ n In W 4 _ a
B y te 7 ,8

1 6 B it

Abb. 2-8 Inputs_AIF3 (AIF3_IN)

9300ServoPLC EN 1.4 2-15

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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF3_nInW1_a Integer analog %IW43.0 +16384 = +100 %
AIF3_nInW2_a Integer analog %IW43.1 +16384 = +100 %
AIF3_nInW3_a Integer analog %IW43.2 +16384 = +100 %
AIF3_nInW4_a Integer analog %IW43.3 +16384 = +100 %
AIF3_bInB0_b Bool binary %IX43.0.0
.. .. .. ..
.. .. .. ..
AIF3_bInB15_b Bool binary %IX43.0.15
AIF3_bInB16_b Bool binary %IX43.1.0
.. .. .. ..
.. .. .. ..
AIF3_bInB31_b Bool binary %IX43.1.15
AIF3_dnInD1_p Double integer position %ID43.0 65536 = 1 revolution

Function
The input signals of the 8 byte user data of the AIF-object are converted into corresponding signal
types.

Bytes 1-2 and bytes 3-4

• Byte 1, 2 and byte 3, 4 can be used as binary information (2 x 16 bit)
• Byte 1, 2 and byte 3, 4 can be used as double word (32 bit)

Byte 5 and 6
Bytes 5, 6 form the signal for AIF3_nInW3_a.

Bytes 7, 8
Bytes 7, 8 form the signal for AIF3_nInW4_a.

Address range from byte 1 - 7

Byte Address
1, 2 %IB43.0 and %IB43.1
3, 4 %IB43.2 and %IB43.3
5, 6 %IB43.4 and %IB43.5
7, 8 %IB43.6 and %IB43.7

2-16 9300ServoPLC EN 1.4

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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)

2.4.2 Outputs_AIF3 (AIF3_OUT)

Automation interface (module number 43)

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

A IF 3 _ O U T
B it 0

A IF 3 _ n O u tW 1 _ a

B y te 1 ,2
A IF 3 _ n O u tW 2 _ a

B it 1 5
A IF 3 _ b F D O 0 _ b
1 6 B it
...

A IF 3 _ b F D O 1 5 _ b L o w W o rd
A IF 3 _ b F D O 1 6 _ b
B y te 3 ,4

1 6 B it
...

A IF 3 _ b F D O 3 1 _ b H ig h W o r d

1 6 B it A u to m a tio n
L o w W o rd B it 3 1
A IF 3 _ d n O u tD 1 _ p In te rfa c e
B it 0
1 6 B it
H ig h W o r d
A IF 3 _ n O u tW 3 _ a
B y te 5 ,6

B it 1 5
B it 0

A IF 3 _ n O u tW 4 _ a
B y te 7 ,8

B it 1 5

Abb. 2-9 Outputs_AIF3 (AIF3_OUT)

9300ServoPLC EN 1.4 2-17

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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)

VariableName DataType SignalType Address DIS DIS format Note

AIF3_nOutW1_a Integer analog %QW43.0 +100 % = +16384
AIF3_nOutW2_a Integer analog %QW43.1 +100 % = +16384
AIF3_nOutW3_a Integer analog %QW43.2 +100 % = +16384
AIF3_nOutW4_a Integer analog %QW43.3 +100 % = +16384
AIF3_bFDO0_b Bool binary %QX43.0.0
AIF3_bFDO1_b Bool binary %QX43.0.1
AIF3_bFDO2_b Bool binary %QX43.0.2
AIF3_bFDO3_b Bool binary %QX43.0.3
AIF3_bFDO4_b Bool binary %QX43.0.4
AIF3_bFDO5_b Bool binary %QX43.0.5
AIF3_bFDO6_b Bool binary %QX43.0.6
AIF3_bFDO7_b Bool binary %QX43.0.7
AIF3_bFDO8_b Bool binary %QX43.0.8
AIF3_bFDO9_b Bool binary %QX43.0.9
AIF3_bFDO10_b Bool binary %QX43.0.10
AIF3_bFDO11_b Bool binary %QX43.0.11
AIF3_bFDO12_b Bool binary %QX43.0.12
AIF3_bFDO13_b Bool binary %QX43.0.13
AIF3_bFDO14_b Bool binary %QX43.0.14
AIF3_bFDO15_b Bool binary %QX43.0.15
AIF3_bFDO16_b Bool binary %QX43.1.0
AIF3_bFDO17_b Bool binary %QX43.1.1
AIF3_bFDO18_b Bool binary %QX43.1.2
AIF3_bFDO19_b Bool binary %QX43.1.3
AIF3_bFDO20_b Bool binary %QX43.1.4
AIF3_bFDO21_b Bool binary %QX43.1.5
AIF3_bFDO22_b Bool binary %QX43.1.6
AIF3_bFDO23_b Bool binary %QX43.1.7
AIF3_bFDO24_b Bool binary %QX43.1.8
AIF3_bFDO25_b Bool binary %QX43.1.9
AIF3_bFDO26_b Bool binary %QX43.1.10
AIF3_bFDO27_b Bool binary %QX43.1.11
AIF3_bFDO28_b Bool binary %QX43.1.12
AIF3_bFDO29_b Bool binary %QX43.1.13
AIF3_bFDO30_b Bool binary %QX43.1.14
AIF3_bFDO31_b Bool binary %QX43.1.15
AIF3_dnOutD1_p Double integer position %QD43.0 1 revolution = 65536

2-18 9300ServoPLC EN 1.4

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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)

Function
The input signals of this function block are copied to the 8 byte user data of the AIF object and applied
to the plugged-in fieldbus module.

Bytes 1-2 and bytes 3-4

It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4. Avoid this
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
The variables ... write data simultaneously to ...
AIF3_nOutW1_a Byte
y e 1 and
a d2
AIF3_bFDO0_b ... AIF3_bFDO15_b
AIF3_dnOutD1_p
AIF3_nOutW2_a Bytes
y es 3 and
a d4
AIF3_bFDO16_b ... AIF3_bFDO31_b
AIF3_dnOutD1_p

Example:
If you write to bytes 3-4, using the variables AIF3_nOutW2_a and AIF3_dnOutD1_p then bytes 3-4
will be rewritten every time a variable is processed. The data in bytes 3-4 are thus not unambiguous.

Byte 5 and 6
You can freely link bytes 5 and 6 with variables of the corresponding data type, as a 16-bit data word
(quasi-analog signal).

Bytes 7, 8
You can freely link bytes 7 and 8 with variables of the corresponding data type, as a 16-bit data word
(quasi-analog signal).

Address range from byte 1 - 7

Byte Address
1, 2 %QB43.0 and %QB43.1
3, 4 %QB43.2 and %QB43.3

5, 6 %QB43.4 and %QB43.5

7, 8 %QB43.6 and %QB43.7

9300ServoPLC EN 1.4 2-19

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System blocks
2.5 AIF_IO_Management

2.5 AIF_IO_Management

Automation interface management (module number 161)

This SB is used for the control and monitoring of special AIF-modules (fieldbus modules).

Tip!
Please observe the corresponding Operating Instructions for the fieldbus module that is plugged in.

AIF_IO_Management

AIF AIF_bCe1CommErr_b
Communication Error

AIF AIF_bFieldBusStateBit0_b
Field Bus State
AIF_bFieldBusStateBit1_b

AIF_bFieldBusStateBit2_b

AIF_bFieldBusStateBit3_b

AIF_bFieldBusStateBit4_b

AIF_bFieldBusStateBit5_b

AIF_bFieldBusStateBit6_b

AIF_bFieldBusStateBit7_b

Abb. 2-10 AIF_IO_Management

VariableName DataType SignalType Address DIS DIS format Note

AIF_bCe0CommErr_b Bool binary %IX161.0.0 hex Communication error
AIF_bFieldBusStateBit0_b Bool binary %IX161.1.0 hex Field bus state bit 0
AIF_bFieldBusStateBit1_b Bool binary %IX161.1.1 hex Field bus state bit 1
AIF_bFieldBusStateBit2_b Bool binary %IX161.1.2 hex Field bus state bit 2
AIF_bFieldBusStateBit3_b Bool binary %IX161.1.3 hex Field bus state bit 3
AIF_bFieldBusStateBit4_b Bool binary %IX161.1.4 hex Field bus state bit 4
AIF_bFieldBusStateBit5_b Bool binary %IX161.1.5 hex Field bus state bit 5
AIF_bFieldBusStateBit6_b Bool binary %IX161.1.6 hex Field bus state bit 6
AIF_bFieldBusStateBit7_b Bool binary %IX161.1.7 hex Field bus state bit 7

Function
Monitoring for communication errors through a field bus module connected to the automation
interface. (Communication error CE0; LECOM-Nr.: 61; Reaction: TRIP)

2-20 9300ServoPLC EN 1.4

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System blocks
2.6 Analog inputs/outputs 1 (ANALOG1_IO)

2.6 Analog inputs/outputs 1 (ANALOG1_IO)

2.6.1 Inputs_ANALOG1 (AIN1)

Analog input 1 (module number 11)

This SB forms the interface for analog signals via terminal X6/1-2 as setpoint input, actual value input,
and parameter control.

X 6
C 0 0 3 4 A IN 1
1 A IN 1 _ n In _ a
2 C 0 4 0 0
A IN 1 _ b E rro r_ b

Abb. 2-11 Inputs_ANALOG1 (AIN1)

VariableName DataType SignalType Address DIS DIS format Note

AIN1_nIn_a Integer analog %IW11.0 C0400 dec [%] Analog input 1
AIN1_bError_b Bool binary %IX11.1.0 - - TRUE, if I < 2 mA
C0034 - - - - - Select master voltage or master
current

Function

Selection Function Note

C0034 = 0 -10 V ... 10 V master voltage ±10 V ≡ ±16384
C0034 = 1 4 mA ... 20 mA master current AIN1_bError_b = TRUE, if master current < 2 mA
AIN1_bError_b = FALSE, if master current ≥ 2 mA
C0034 = 2 -20 mA ... 20 mA

• C0034 can be used to insert a dead-time section into the output signal. The function 4 ... 20
mA as a current master value can be achieved together with the jumper setting X2 (at the front
of the controller).
• Settings through C0598:
– C0598 = 0: if the master current < 2 mA, the TRIP (SD5) message appears.
– C0598 = 2: if the master current < 2 mA, the warning mesage appears.
– C0598 = 3: no message appears.
• Processing time required for the SB: 10 µsec.

Assignment of the control terminals X6/1, 2

Terminal Use level Data
X6/1 Differential master-voltage input -10 V bis +10 V Resolution:
6 5
X6/2 4 3 5 mV (11 bit + sign)
2 1 ±10 V ≡ ±16384 ≡ ±100 %

Jumper X3
Differential master-current input -20 mA to +20 mA Resolution:
6 5
4 3 20 µA (10 Bit + sign)
2 1

9300ServoPLC EN 1.4 2-21

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System blocks
2.6 Analog inputs/outputs 1 (ANALOG1_IO)

2.6.2 Outputs_ANALOG1 (AOUT1)

Analog output 1 (module number: 11)

You can use this SB as a monitor output. Internal analog signals can be output via terminal X6/62 as
voltage signals, and used, for example, as display or setpoints for following drives.
AOUT1 X6
AOUT1_nOut_a
62
C0434/1

Abb. 2-12 Outputs_ANALOG1 (AOUT1)

VariableName DataType SignalType Address DIS DIS format Note

AOUT1_nOut_a Integer analog %QW11.0 C0434/1 dec [%] Analog output 1

Function
• A voltage of 10 V is given out at terminal X6/62, if the signal on AOUT1_nOut_a = 16384 =
100 %
• Processing time required for the SB: 12 µsec.

Assignment of the control terminal X6/62

Terminal Use level Data
X6/62 Monitor 1 -10 V to +10 V; Resolution:
max. 2 mA 20 mV (9 bit + sign)
±10 V ≡ ±16384 ≡ ±100 %
X6/7 Internal ground, GND - -

2-22 9300ServoPLC EN 1.4

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System blocks
2.7 Analog inputs/outputs 2 (ANALOG2_IO)

2.7 Analog inputs/outputs 2 (ANALOG2_IO)

2.7.1 Inputs_ANALOG2 (AIN2)

Analog input 2 (module number 12)

This SB forms the interface for analog signals via terminal X6/3-4.

X 6 A IN 2
3 A IN 2 _ n In _ a
4 C 0 4 0 5

Abb. 2-13 Inputs_ANALOG2 (AIN2)

VariableName DataType SignalType Address DIS DIS format Note

AIN2_nIn_a Integer analog %IW12.0 C0405 dec [%] Analog input 2

• Processing time required for the SB: 10 µsec.

Asssignment of the control terminals X6/3-4

Terminal Use level Data
X6/3 Differential master-voltage input -10 V bis +10 V Resolution:
X6/4 (jumper X3 has no effect) 5 mV (11 bit + sign)
±10 V ≡ ±16384 ≡ ±100 %

9300ServoPLC EN 1.4 2-23

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System blocks
2.7 Analog inputs/outputs 2 (ANALOG2_IO)

2.7.2 Outputs_ANALOG2 (AOUT2)

Analog output 2 (module number: 12)

You can use this SB as a monitor output. Internal analog signals can be output via terminal X6/63 as
voltage signals, and used, for example, as display or setpoints for following drives.
AOUT2 X6
AOUT2_nOut_a
63
C0439/1

Abb. 2-14 Outputs_ANALOG2 (AOUT2)

VariableName DataType SignalType Address DIS DIS format Note

AOUT2_nOut_a Integer analog %QW12.0 C0439/1 dec [%] Analog output 2

• A voltage of 10 V is given out at terminal X6/63, if the signal on AOUT2_nOut_a = 16384 =

100 %
• Processing time required for the SB: 12 µsec.

Assignment of the control terminal X6/63

Terminal Use level Data
X6/63 Monitor 2 -10 V to +10 V; Resolution:
max. 2 mA 20 mV (9 bit + sign)
±10 V ≡ ±16384 ≡ ±100 %
X6/7 Internal ground, GND - -

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System blocks
2.8 Drive control (DCTRL_DriveControl)

2.8 Drive control (DCTRL_DriveControl)

Module number: 121

This SB operates the drive controller in specific states (e.g. TRIP, TRIP-RESET, QSP or controller
inhibit).
• The process image is created in a fixed system task (interval: 2 msec).

C 0 1 3 5 D C T R L
1 6
D C T R L _ w C A N 1 C trl
1 6 B it B it3
B it3
≥1
D C T R L _ w A IF 1 C trl Q S P
1 6 B it C 1 3 5 .B 3 D C T R L _ b Q s p In _ b

B it8
B it8
≥1 D IS A B L E D C T R L _ b R d y _ b
C 1 3 5 .B 8
D C T R L _ b C In h _ b
B it9
B it9
C 1 3 5 .B 9 D C T R L _ b Im p _ b
X 5 /2 8
D C T R L _ b C In h 1 _ b ≥1 C IN H D C T R L _ b T r ip _ b

D C T R L _ b W a rn _ b
C 0 8 7 8 /1
D C T R L _ b C In h 2 _ b D C T R L _ b M e s s _ b

≥1
C 0 8 7 8 /2 D C T R L _ b F a il_ b
B it1 0 D C T R L _ w F a u ltN u m b e r
B it1 0
C 1 3 5 .B 1 0 ≥1 T R IP -S E T C 0 1 6 8
D C T R L _ b T r ip S e t_ b
D C T R L _ b C w C C w _ b

C 0 8 7 8 /3 D C T R L _ b E x te r n a lF a u lt _ b

B it1 1 D C T R L _ b N A c tE q 0 _ b
B it1 1
C 1 3 5 .B 1 1 ≥1 > T R IP -R E S E T
D C T R L _ b S ta t1 _ b
D C T R L _ b T r ip R e s e t_ b D C T R L _ b S ta t2 _ b

D C T R L _ b S ta t4 _ b
C 0 8 7 8 /4 C 0 1 3 6 /1
D C T R L _ b S ta t8 _ b

D C T R L _ b In it_ b

D C T R L _ b S ta te B 0 _ b
0 S T A T
D C T R L _ b Im p _ b
1
D C T R L _ b S ta te B 2 _ b
2
D C T R L _ b S ta te B 3 _ b
3
D C T R L _ b S ta te B 4 _ b
4
D C T R L _ b S ta te B 5 _ b
5
D C T R L _ b N A c tE q 0 _ b
6
D C T R L _ b C In h _ b
7 D C T R L _ w S ta t
D C T R L _ b S ta t1 _ b
8
D C T R L _ b S ta t2 _ b C 0 1 5 0
9
D C T R L _ b S ta t4 _ b
1 0
D C T R L _ b S ta t8 _ b
1 1
D C T R L _ b W a rn _ b
1 2
D C T R L _ b M e s s _ b
1 3
D C T R L _ b S ta te B 1 4 _ b
1 4
D C T R L _ b S ta te B 1 5 _ b
1 5

Abb. 2-15 Drive control (DCTRL)

Tip!
A task overflow triggers a TRIP which also stops the application program of the PLC!
Motor control/drive control and PLC application program are otherwise completely separated unless
there is a polling of the signals in the application program.
The SB DCTRL only affects the motor or drive control of the controller.
For instance, the application program will not be stopped when the motor control has triggered a
TRIP.

9300ServoPLC EN 1.4 2-25

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System blocks
2.8 Drive control (DCTRL_DriveControl)

VariableName DataType SignalType Address DIS DIS format Note

DCTRL_wCAN1Ctrl Word - %QW121.3 - -
DCTRL_wAIF1Ctrl Word - %QW121.2 - -
DCTRL_bCInh1_b Bool binary %QX121.0.1 C0878/1 bin TRUE = inhibit controller
DCTRL_bCInh2_b Bool binary %QX121.0.2 C0878/2 bin TRUE = inhibit controller
DCTRL_bTripSet_b Bool binary %QX121.0.3 C0878/3 bin TRUE = error message
– “ExternalFault”
– (external fault “EEr”)
DCTRL_bTripReset_b Bool binary %QX121.0.4 C0878/4 bin FALSE-TRUE edge =
TRIP-RESET
DCTRL_bStatB0_b Bool binary %QX121.1.0
DCTRL_bStatB2_b Bool binary %QX121.1.2
DCTRL_bStatB3_b Bool binary %QX121.1.3
DCTRL_bStatB4_b Bool binary %QX121.1.4
DCTRL_bStatB5_b Bool binary %QX121.1.5
DCTRL_bStatB14_b Bool binary %QX121.1.14
DCTRL_bStatB15_b Bool binary %QX121.1.15
DCTRL_bQspin_b Bool binary %IX121.0.3 TRUE = QSP through
CAN/AIF control word or C0135
DCTRL_bRdy_b Bool binary %IX121.0.4 - - TRUE = ready to operate
DCTRL_bCInh_b Bool binary %IX121.0.7 - - TRUE = controller inhibited
DCTRL_bImp_b Bool binary %IX121.0.1 - - TRUE = power output stage is
high-impedance
DCTRL_bTrip_b Bool binary %IX121.0.2 - - TRUE = active error
DCTRL_bWarn_b Bool binary %IX121.0.12 - - TRUE = active warning
DCTRL_bMess_b Bool binary %IX121.0.13 - - TRUE = active message
DCTRL_bFail_b Bool binary %IX121.0.0 - - TRUE = active error
DCTRL_bCwCCw_b Bool binary %IX121.0.5 - - FALSE = CW, TRUE = CCW
DCTRL_bNActEq0_b Bool binary %IX121.0.6 - - TRUE = motor speed < C0019
DCTRL_bStat1_b Bool binary %IX121.0.8 - - general status (binary coded)
DCTRL_bStat2_b Bool binary %IX121.0.9 - - general status (binary coded)
DCTRL_bStat4_b Bool binary %IX121.0.10 - - general status (binary coded)
DCTRL_bStat8_b Bool binary %IX121.0.11 - - general status (binary coded)
DCTRL_bInit_b Bool binary %IX121.0.14 - - Signal during the initialisation
phase on power-on
DCTRL_bExternalFault_b Bool binary %IX121.0.15 - - TRUE = TRIP was set through
DCTRL_bTripSet_b
DCTRL_wStat Word - %IW121 C0150 hex Status word
DCTRL_wFaultNumber Word - %IW121.1 C0168 - Display of the current fault
number (see monitoring)

Range of functions
• Operation inhibited (DISABLE)
• Controller inhibit (CINH)
• TRIP-SET
• TRIP-RESET
• Controller state
• Output of digital status signals

2-26 9300ServoPLC EN 1.4

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9300 Servo PLC

System blocks
2.8 Drive control (DCTRL_DriveControl)

2.8.1 Quickstop (QSP)

The drive is braked to standstill via the deceleration ramp C105 and generates a holding torque.
• The function can be operated via 3 inputs:
– Control word CAN1_wDctrlCtr from SB CAN1_IN
– Control word AIF_wDctrlCtrl from SB AIF1_IN
– Control word C0135.B3
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135

Tip!
QSP is only set if MCTRL_bQspOut_b is linked to DCTRL_bQspIn_b

DCTRL_bQspIn_b OR MCTRL_bQspOut_b

C0907/3
Any Variable
MCTRL_nHiMLim_a

C0906/4
MCTRL_nLoMLim_a

MCTRL_bNMSwt_b C0906/3

MCTRL_bILoad_b C0907/2

Abb. 2-16 Programming the QSP-function, if SB DCTRL is to trigger QSP

2.8.2 Operation disabled (DISABLE)

In this state, you cannot start the drive with the controller enable command.The power output stages
are disabled. All speed/current/position controllers are reset.
• The function can be operated via 3 inputs:
– Control word CAN1_wDctrlCtr from SB CAN1_IN
– Control word AIF_wDctrlCtrl from SB AIF1_IN
– Control word C0135.B8
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135

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System blocks
2.8 Drive control (DCTRL_DriveControl)

2.8.3 Controller inhibit “ControllerInhibit” (CINH)

The power output stages are disabled. All speed/current/position controllers are reset.
• The function can be operated via 6 inputs:
– Terminal X5/28 (FALSE = controller disable)
– Control word CAN1_wDctrlCtr from SB CAN1_IN
– Control word AIF_wDctrlCtrl from SB AIF1_IN
– Control word C0135.B9
– System variables DCTRL_bCInh1_b (VAR_INPUT)
– System variables DCTRL_bCInh2_b (VAR_INPUT)
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135

2.8.4 TRIP-SET
The drive is operated in the state selected under C0581, and signals “ExternalFault”.
• The function can be operated via 4 inputs:
– Control word CAN1_wDctrlCtr from SB CAN1_IN
– Control word AIF_wDctrlCtrl from SB AIF1_IN
– Control word C0135.B10
– System variables DCTRL_bTripSet_b (VAR_INPUT)
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135

2.8.5 TRIP-RESET
TRIP-RESET resets an active TRIP, provided that the cause of the fault has been removed. If the
cause of the fault is still active, there is no reaction.
• The function can be operated via 4 inputs:
– Control word CAN1_wDctrlCtr from SB CAN1_IN
– Control word AIF_wDctrlCtrl from SB AIF1_IN
– Control word C0135.B11
– System variables DCTRL_bTripReset_b (VAR_INPUT)
• All inputs are linked by an OR-operation.
• The function can only be performed by a FALSE-TRUE transition of the signal resulting from
the OR operation.
• C0136/1 displays the control word C0135

Tip!
If TRUE is present at one of the inputs, no FALSE-TRUE transition can occur in the resulting signal.

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System blocks
2.8 Drive control (DCTRL_DriveControl)

2.8.6 DCTRL_wFaultNumber
An existing fault can be read using the system variable DCTRL_wFaultNumber = C0168.
For the assignment of the error numbers refer to chapter ”Monitoring” of the description of the
automation system.

2.8.7 DCTRL_bExternalFault_b
If DCTRL_bTripSet_b triggers a TRIP, then the state changes from DCTRL_bExternalFault_b to TRUE.
DCTRL_bExternalFault_b remains TRUE, until either DCTRL_bTripSet_b , keypad, GDC or codes
reset the TRIP.

2.8.8 Controller state

The state is binary-coded in the system variables DCTRL_bStat1_b ... DCTRL_bStat8_b
(VAR_INPUT).
DCTRL_bStat8_b DCTRL_bStat4_b DCTRL_bStat2_b DCTRL_bStat1_b Action of the controller
0 0 0 0 Initialization after connection of the supply voltage
0 0 0 1 Lock mode, Protection against restart active C0142
0 0 1 1 Drive is in controller inhibit mode
0 1 1 0 Controller enabled
0 1 1 1 The release of a monitoring function resulted in a ”message”
1 0 0 0 The triggering of a monitoring function resulted in a TRIP

0 FALSE
1 TRUE

2.8.9 Output of digital status signals

Defined signals are output at DCTRL_wStat as a status word. With C0150 you can display the status
word.
The status word is assembled from the following signals:
• Generated signals in the SB DCTRL
• Signals from system variables, with outputs that you can program
System variables, which you can use to assign defined signals Signals generated in SB DCTRL, that are assigned to the status
to the status word word
DCTRL_bStatB0_b DCTRL_bImp_b
DCTRL_bStatB2_b DCTRL_bNActEq0_b
DCTRL_bStatB3_b DCTRL_bCInh_b
DCTRL_bStatB4_b DCTRL_bStat1_b
DCTRL_bStatB5_b DCTRL_bStat2_b
DCTRL_bStatB14_b DCTRL_bStat4_b
DCTRL_bStatB15_b DCTRL_bStat8_b
DCTRL_bWarn_b
DCTRL_bMess_b

The bitwise assignment of the status word can be found in the diagram for the SB DCTRL (see
Abb. 2-15).

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System blocks
2.8 Drive control (DCTRL_DriveControl)

2.8.10 Control word and status word

If the control and/or status word from DCTRL_DriveControl is assigned to the AIF1_IO/CAN1_IO,then
this must be implemented by the user.
Examples:
LD DCTRL_wStat
ST AIF1_wDctrlStat
ST CAN1_wDctrlStat

LD AIF1_wDctrlCtrl
ST DCTRL_wAIF1Ctrl

LD CAN1_wDctrlCtrl
ST DCTRL_wCAN1Ctrl

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System blocks
2.9 Digital master frequency input (DF_IN_DigitalFrequency)

2.9 Digital master frequency input (DF_IN_DigitalFrequency)

Module number: 21
This SB can convert and normalize a pulse current at the digital frequency input X9 into a speed and
phase-angle setpoint. The transmission of a digital frequency is very precise (without offset and gain
errors).
X 9
C 0 4 2 7 D F _ IN
D F IN _ n In _ v

C 0 4 2 5 C 0 4 2 6
4 V

(X 9 /8 ) M O N IT -S D 3 D F IN _ b E n c F a u ltC a b le _ b

M P 0
T P /M P D F IN _ b T P R e c e iv e d _ b
-C trl
E 5 D F IN _ d n In c L a s tS c a n _ p
1

C 0 4 2 8 C 0 4 2 9

Abb. 2-17 Digital frequency input (DF_IN)

VariableName DataType SignalType Address DIS DIS format Note

DFIN_nIn_v Integer velocity %IW21.0 C0426 dec [rpm] Value in incr./msec
DFIN_bEncFaultCable_b Bool binary %IX21.1.0 - - TRUE = monitoring “FaultEncCa-
ble” has been triggered, because
X9/8 has no voltage applied, and
so the digital frequency coupling
is interrupted
DFIN_bTPReceived_b Bool binary %IX21.1.2 - -
DFIN_dnIncLastScan_p Double Integer position %ID21.1 - -

Range of functions
• Digital frequency input X9
• Technical data for the connection of X9 and X10
• Touch-probe

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2.9 Digital master frequency input (DF_IN_DigitalFrequency)

2.9.1 Digital frequency input X9

• The digital frequency input X9 is dimensioned for signals with TTL levels.
• You can use C0425 to adapt the drive to the sensor/encoder that is connected or to the
preceding drive controller in the case of digital-frequency cascade or digital-frequency-bus
operation.
C0425 Constants in increments per turn
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev

• The input of a zero track is optional.

• The evaluation of the following digital-frequency input signals is possible under C0427:
• The process image of SB DF_IN is newly created again for each task in which it is applied.

C0427 = 0 (2-phase)

A
A

B
B

Z
Z

Abb. 2-18 Signal sequence with phase shift (CW rotation)

• CW rotation:
– Track A leads track B by 90 ° (positive value at DFIN_nIn_v ).
• CCW rotation:
– Track A lags track B by 90 ° (negative value at DFIN_nIn_v ).

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2.9 Digital master frequency input (DF_IN_DigitalFrequency)

C0427 = 1 (A = pulse / B = direction)

A
A

B
B

Z
Z

Abb. 2-19 Control of the direction of rotation by track B

• CW rotation:
– Track A transmits the speed.
– Track B = FALSE (positive value at DFIN_nIn_v ).
• CCW rotation:
– Track A transmits the speed.
– Track B = TRUE (negative value at DFIN_nIn_v ).

C0427 = 2 (pulse = A or B)

A
A

B
B

Z
Z

Abb. 2-20 Control of speed and direction of rotation via track A or track B

• CW rotation:
– Track A provides the speed and the direction (positive value at DFIN_nIn_v ).
– Track B = FALSE
• CCW rotation:
– Track B provides the speed and the direction (negative value at DFIN_nIn_v ).
– Track A = FALSE

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2.9 Digital master frequency input (DF_IN_DigitalFrequency)

Transmission function

DFIN_nIn_v f [Hz] ô 60 ô 2
14

no. of incr._from C0425 15000

Example:
Input frequency = 200 kHz
C0425 = 3 (corresponds to 2048 increments/turn)
Solution:

DFIN_nIn_v [rpm] 200000 Hz ô 60 5859 rpm

2048

Signal adaptation
Finer resolutions can be achieved by adding a following FB (e.g. L_CONV).
Example:

nOut_a f [Hz] ô 60 ô nNumerator ô 2

no. of incr._from C0425 nDenominator 15000

X 9 L _ C O N V 3
C 0 4 2 7 D F _ IN L _ C O N V
D F IN _ n In _ v n In _ a n N u m e ra to r n O u t_ a
n D e n o m in a to r

C 0 4 2 5 C 0 4 2 6
4 V

(X 9 /8 ) M O N IT -S D 3 D F IN _ b E n c F a u ltC a b le _ b

M P 0
T P /M P D F IN _ b T P R e c e iv e d _ b
-C trl
E 5 D F IN _ d n In c L a s tS c a n _ p
1

C 0 4 2 8 C 0 4 2 9

Abb. 2-21 Digital frequency input (DF_IN) with following FB for normalization

Stop!
If C0540 = 0, 1, 2 (signal at X10, see SB DFOUT) and feedback system C0025 > 10 you must not use
the digital frequency input X9.

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2.9 Digital master frequency input (DF_IN_DigitalFrequency)

2.9.2 Technical data for the connection of X9 and X10

Digital frequency output X10 Digital frequency input X9
Features: Features:
• Sub-D female connector, 9-pole • Sub-D male connector, 9-pole
• Output frequency: 0 - 500 kHz • Input frequency: 0 - 500 kHz
• Current consumption per channel: max 20mA. • Current consumption per channel: max 6mA.
• Two-track with inverse 5 V signals and zero track • Two-track with inverse 5 V signals and zero track
• Load capability: • Possible input signals:
– For parallel connection, a maximum of three slaves can be con- – Incremental encoders with two 5V complementary signals (TTL-
nected. level source), shifted by 90°
– With a series connection, any number of following drives can be – Encoder simulation of the master
connected. • PIN 8 serves to monitor the cable or the connected controller:
• When PIN 8 (EN) shows a LOW level, the master is initialized (e.g. – When this PIN shows a LOW level, the monitoring “FaultEncCa-
if the mains was disconnected) . The slave can thus monitor the ble” (”SD3”) is triggered.
master. – If the monitoring is not required, this input can be tied to +5V.
• The input is disconnected at C0540 = 0, 1, 2 or 3.

M a s te r S la v e
X 1 0 X 9
∅

B B m m 2 A W G
1 1 F o r C W r o t a t io n
A 2 2 A 0 .1 4 2 6
A
A 3 3 A
A
4 4
B
G N D 5 5 G N D 0 .5 2 0
B
Z 6 6 Z
0 .1 4 2 6 Z
Z 7 7 Z
L a m p Z
e n a b le
8 8 c o n tro l 0 .5 2 0
B 9 9 B 0 .1 4 2 6
C a b le le n g t h m a x . 5 0 m

9 p o le S u b - D c o n n e c to r 9 p o le S u b - D m a le c o n n e c to r

Pin assignment X10 Pin assignment X9

1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9
B A A +5 V GND Z Z EN B B A A +5 V GND Z Z LC B

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2.9 Digital master frequency input (DF_IN_DigitalFrequency)

2.9.3 Touch-Probe (TP)

T P

D F IN _ d n In c L a s tS c a n _ p
ϕ

Abb. 2-22 Function diagram of a TP

Time-equidistant start of an interval-task

ϕ Phase-angle signal

Functional sequence
1. The TP is triggered by a FALSE-TRUE edge at the digital input X5/E5 or by a zero pulse from
X9 (only if an encoder is attached).
– Use C0428 to select whether the TP should be carried out by the MP (marker pulse “zero
pulse from encoder”) or from the X5/E5 input.
– Use C0429 to set a delay (unit: incr.) for a TP. This means that the TP/MP-Ctrl has a delyed
response to a TP.
– Through C0431 you can set up whether the TP from E5 should be triggered by a rising or
falling edge(0 = rising edge, 1 = falling edge).
2. If a TP has occurred, then DFIN_bTPReceived_b switches immediately = TRUE.
3. After the start of the task, DFIN_dnIncLastScan_p gives the number of increments [inc/ms]
that have been counted since the TP.
4. Following, DFIN_bTPReceived_b = FALSE is set.

Note!
It is also necessary that DFIN_nIn_v is processed in the task, so that the SB DFIN is read in.

DFIN_nIn_v
• The value DFIN_nIn_v is scaled in increments per millisecond.
(INT) 16384 cirresponds to 15000 rpm.
• For every task in which DFIN_nIn_v is used, the operating system creates an individual counter
that is reset after every start of the task.

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2.9 Digital master frequency input (DF_IN_DigitalFrequency)

Example ( DFIN_nIn_v in a 10 msec task):

• When the 10 msec task starts, the value of the counter is stored in a local area of the task and
the counter is reset. The value in the local area goves an average value in increments per 1
msec.
• If a position value is to be derived from this value, then it must be multiplied by
SYSTEM_nTaskInterval / 4, to get the result in increments per
10 msec, as in the example.
Example: In a 1 msec task, SYSTEM_nTaskInterval has the value 4 (4 * 250 µs = 1 msec)
• For Lenze FBs, this procedure has already been implemented in the FBs.

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2.10 Digital frequency output (DF_OUT_DigitalFrequency)

2.10 Digital frequency output (DF_OUT_DigitalFrequency)

Module number: 22
Converts internal speed signals into frequency signals and outputs them, for example, to following
drives. The transmission is very precise (without offset and gain errors).
D F _ O U T
C 0 0 3 0
C 0 5 4 0
C 0 5 4 0
D F O U T _ n In _ v
0
1 C 0 5 4 7
D F O U T _ n O u t_ v 2
n C 0 5 4 9
m a x
4
5 C T R L C 0 5 4 0

0 X 1 0
C 0 5 4 5
1
X 9 2

4
X 8 5

Abb. 2-23 Digital frequency output (DF_OUT)

VariableName DataType SignalType Address DIS DIS format Note

DFOUT_nOut_v Integer velocity %QW22.0 C0547 dec [%]
C0549 dec [rpm]
DFOUT_nIn_v Integer velocity %IW22.0 - -

Range of functions
• Output signals on X10
• Output of an analog signal
• Output of a speed signal
• Encoder simulation of the resolver with zero track in resolver zero position
• Direct output of X8
• Direct output of X9
• Technical data for the connection of X9 and X10

Note!
The DF_OUT system block operates with residual values.

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2.10 Digital frequency output (DF_OUT_DigitalFrequency)

2.10.1 Output signals on X10

Rechtslauf
A
A
B
B
Z
Z

Abb. 2-24 Signal sequence for CW rotation (definition)

• The output signal corresponds to the simulation of an incremental encoder:

– Track A, track B and the zero track (if necessary) as well as the corresponding inverted
tracks are output with tracks shifted by 90°.
– The levels are TTL-compatible.
• The signal sequence in the diagram occurs if the input values are positive (CW rotation).
• If the input values are negative (CCW rotation), track B leads track A by 90° .
• The zero-track output only occurs when C0540 = 2.
• The function of the digital frequency output X10 is determined via C0540.

Note!
C0540 = 0 ... 2 is not possible if the connection has been made to digital frequency input DFIN X9
^
and C0025 > 10 has been selected. ( 2-48, selection of the feedback system)

[C0540] Signal at X10

0 DFOUT_nOut_v is interpreted as an analog signal [%] and given out as a frequency signal at X10.
100 % ≡ (INT)16384 ≡ C0011 (NMax)
1 DFOUT_nOut_v is interpreted as a speed (rpm) signal [%] and given out as a frequency signal at X10.
15000 rpm ≡ (INT)16384
2 Encoder simulation of the resolver with zero track in resolver zero track (mechanical assembly to the motor)
4 The signal at input X9 is amplified electrically and is output directly to X10 (C0030 has no function)
5 The signal at input X8 is amplified electrically and is output directly to X10 (C0030 has no function)

• C0030 is used to set the encoder constant of the encoder simulation.

C0030 Constant in increments per turn
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev

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2.10 Digital frequency output (DF_OUT_DigitalFrequency)

2.10.2 Output of an analog signal

Selection: C0540 = 0
The input signal DFOUT_nOut_v is interpreted as an analog signal [% ] and given out as a frequency
signal at the master frequency output X10.
• 100 % ≡ (INT)16384 ≡ C0011 (nmax)

Transmission function
no. of incr._from C0030 C0011 (n max)
f [Hz] DFOUT_nOut_v [% ] ô ô
100 60

Example:
• DFOUT_nOut_v = 50 %
• C0030 = 3, this corresponds to 2048 inc/rev.
• C0011 = 3000 rpm
f [Hz] 50 % ô 2048 ô 3000 51200 Hz
100 60

2.10.3 Output of a speed signal

Selection: C0540 = 1
The input signal DFOUT_nOut_v is interpreted as a speed (rpm) signal [% ] and given out as a
frequency signal at X10.
• 15000 rpm ≡ (INT)16384

Transmission function
no. of incr._from C0030
f [Hz] DFOUT_nOut_v [rpm] ô
60

Example:
• DFOUT_nOut_v = 3000 rpm
• C0030 = 3, this corresponds to 2048 inc/rev.
f [Hz] 3000 rpm ô 2048 102400 Hz
60

2.10.4 Encoder simulation of the resolver with zero track in resolver zero position

Selection: C0540 = 2
• The function is used if a resolver is connected to X7.
• The encoder constant for output X10 is set under C0030.
• The output of the zero pulse referring to the motor depends on how the resolver is attached to
the motor.
– The zero pulse can be shifted by +360° under C0545 (65536 inc = 360°).

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2.10 Digital frequency output (DF_OUT_DigitalFrequency)

2.10.5 Direct output of X8

Selection: C0540 = 5
Use: X8 as input for incremental encoder or Sin-Cos encoder
• The signal at input X8 is amplified electrically and is output directly to X10.
• The signals depend on the assignment of input X8.
• C0030 and C0545 have no function.
• The zero track is output only if it is connected to X8.

2.10.6 Direct output of X9

Selection: C0540 = 4
Use: X9 as digital frequency input
• The signal at input X9 is amplified electrically and is output directly to X10.
• The signals depend on the assignment of input X9.
• C0030 and C0545 have no function.
• The zero track is output only if it is connected to X9.

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2.10 Digital frequency output (DF_OUT_DigitalFrequency)

2.10.7 Technical data for the connection of X9 and X10

Digital frequency output X10 Digital frequency input X9
Features: Features:
• Sub-D female connector, 9-pole • Sub-D male connector, 9-pole
• Output frequency: 0 - 500 kHz • Input frequency: 0 - 500 kHz
• Current consumption per channel: max 20mA. • Current consumption per channel: max 6mA.
• Two-track with inverse 5 V signals and zero track • Two-track with inverse 5 V signals and zero track
• Load capability: • Possible input signals:
– For parallel connection, a maximum of three slaves can be con- – Incremental encoders with two 5V complementary signals (TTL-
nected. level source), shifted by 90°
– With a series connection, any number of following drives can be – Encoder simulation of the master
connected. • PIN 8 serves to monitor the cable or the connected controller:
• When PIN 8 (EN) shows a LOW level, the master is initialized (e.g. – When this pin shows a LOW level, the monitoring “FaultEncCa-
if the mains was disconnected) . The slave can thus monitor the ble” (”SD3”) is triggered.
master. – If the monitoring is not required, this input can be tied to +5V.
• The input is disconnected at C0540 = 0, 1, 2 or 3.

M a s te r S la v e
X 1 0 X 9
∅

B B m m 2 A W G
1 1 F o r C W r o ta t io n
A 2 2 A 0 .1 4 2 6
A
A 3 3 A
A
4 4
B
G N D 5 5 G N D 0 .5 2 0
B
Z 6 6 Z
0 .1 4 2 6 Z
Z 7 7 Z
L a m p Z
e n a b le
8 8 c o n tro l 0 .5 2 0
B 9 9 B 0 .1 4 2 6
C a b le le n g t h m a x . 5 0 m

9 p o le S u b - D c o n n e c to r 9 p o le S u b - D m a le c o n n e c to r

Pin assignment X10 Pin assignment X9

1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9
B A A +5 V GND Z Z EN B B A A +5 V GND Z Z LC B

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2.11 Digital inputs/outputs (DIGITAL_IO)

2.11 Digital inputs/outputs (DIGITAL_IO)

2.11.1 Inputs_DIGITAL (DIGIN)

Digital inputs (module number: 1)

This SB reads in the signals at the terminals X5/E1 ... X5/E5 and conditions them.

X5
DIGIN DCTRL -X5/28
DIGIN_bCInh_b
28
DIGIN_bIn1_b
E1 C0114/1...5 DIGIN_bIn2_b
E2 DIGIN_bIn3_b
0
DIGIN_bIn4_b
E3 1
1 DIGIN_bIn5_b
E4
E5 C0443

Abb. 2-25 Inputs_DIGITAL (DIGIN)

VariableName DataType SignalType Address DIS DIS format Note

DIGIN_bCInh_b Bool binary %IX1.0.0 - - Controller inhibit acts directly on
the DCTRL control
DIGIN_bIn1_b Bool binary %IX1.0.1 C0443 bin
DIGIN_bIn2_b Bool binary %IX1.0.2 C0443 bin
DIGIN_bIn3_b Bool binary %IX1.0.3 C0443 bin
DIGIN_bIn4_b Bool binary %IX1.0.4 C0443 bin
DIGIN_bIn5_b Bool binary %IX1.0.5 C0443 bin

Function
• Electrical data of the input terminals:
Terminal Use Data
X5/28 Controller enable (RFR) LOW:
O 0 0 +4 V
X5/E1 freely assignable HIGH: +13 0 +30 V
X5/E2 freely assignable
Inputt ccurrent
Inp rrent at 24 V:
X5/E3 freely assignable 8 mA per input
inp t
X5/E4 freely assignable
X5/E5 freely assignable

• You can use X5/E1 ... X5/E3 as real interrupt inputs. The references to the hardware interrupt
inputs are in the task configuration.
• Reaction time of the interrupt task < 250 µs
• The level for every input can be inverted. For this, proceed as follows:
– Select code C0114 with corresponding subcode (e.g. subcode3 for inputX5/E3)
– Enter the desired level as a parameter:
0 = level not inverted (HIGH active)
1 = level inverted (LOW active)

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2.11 Digital inputs/outputs (DIGITAL_IO)

2.11.2 Outputs_DIGITAL (DIGOUT)

Digital outputs (module number: 1)

This SB conditions the digital signals, and outputs them at terminals X5/A1 ... X5/A4.

DIGOUT
DIGOUT_bOut1_b
C0118/1...4 X5
DIGOUT_bOut2_b
A1
DIGOUT_bOut3_b 0
DIGOUT_bOut4_b 1 A2
1
C0444/1 A3
C0444/2
C0444/3 A4
C0444/4

Abb. 2-26 Outputs_DIGITAL (DIGOUT)

VariableName DataType SignalType Address DIS DIS format Note

DIGOUT_bOut1_b Bool binary %QX1.0.0 C0444/1 bin
DIGOUT_bOut2_b Bool binary %QX1.0.1 C0444/2 bin
DIGOUT_bOut3_b Bool binary %QX1.0.2 C0444/3 bin
DIGOUT_bOut4_b Bool binary %QX1.0.3 C0444/4 bin

Function
• Electrical data of the output terminals:
Terminal Use (Lenze setting in bold print) Data
X5/A1 freely assignable LOW:
O 0 0 +4 V
X5/A2 freely assignable HIGH: +13 0 +30 V
X5/A3 freely assignable
Output
O tp t ccurrent:
rrent:
X5/A4 freely assignable max. 50 mA per output
o tp t
X5/39 Ground of the digital inputs and outputs (external resistance at least 480 Ω at 24 V)
X5/59 Supply input for the control module:
24 V external (I > 1A)

• Delay times:
– For DIGOUT_bOut1_b ... DIGOUT_bOut4_b it lies in the range from 100 µs ... >300 µsec.
• The level for every output can be inverted. For this, proceed as follows:
– Select code C0118 with corresponding subcode (e.g. subcode 3 for output X5/A3)
– Enter the desired level as a parameter:
0 = level not inverted (HIGH active)
1 = level inverted (LOW active)

2-44 9300ServoPLC EN 1.4

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System blocks
2.12 Free Codes (FCODE_FreeCodes)

2.12 Free Codes (FCODE_FreeCodes)

Module number: 141

This SB can be used to assign code values directly to variables. The code value that is entered is
converted into the corresponding variable value by a fixed scaling routine.

FCODE
FCODE_nC17_a
C0017 rpm TO INT

FCODE_nC26_1_a
C0026/1 % TO INT

FCODE_nC26_2_a
C0026/2 % TO INT

FCODE_nC27_1_a
C0027/1 % TO INT

FCODE_nC27_2_a
C0027/2 % TO INT

FCODE_nC32_a
C0032 INT

FCODE_nC37_a
C0037 rpm TO INT

FCODE_nC141_a
C0141 % TO INT

FCODE_nC108_1_a
C0108/1 % TO INT

FCODE_nC108_2_a
C0108/2 % TO INT

FCODE_nC109_1_a
C0109/1 % TO INT

FCODE_nC109_2_a
C0109/2 % TO INT

FCODE_bC135Bit0_b
.
.
C0135 16 Bit .
FCODE_bC135Bit15_b

FCODE_nC141_a
C0141 % TO INT

FCODE_bC250_b
C0250 BOOL

FCODE_bC471Bit0_b
DWORD FCODE_bC471Bit1_b
TO .
C0471 .
BIT/BOOL .
FCODE_bC471Bit1_b

FCODE_nC472_1_a
C0472/1 % TO INT
.
.
.
FCODE_nC472_20_a
C0472/20 % TO INT

FCODE_nC473_1_a
C0473/1 INT
.
.
.
FCODE_nC473_10_a
C0473/10 INT

FCODE_dnC474_1_p
C0474/1 DINT
.
.
.
FCODE_dnC474_5_p
C0474/5 DINT

FCODE_nC475_1_v
C0475/1 INT
FCODE_nC475_2_v
C0475/2 INT

Abb. 2-27 Free codes (FCODE)

9300ServoPLC EN 1.4 2-45

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System blocks
2.12 Free Codes (FCODE_FreeCodes)

VariableName DataType SignalType Address DIS DIS format Note

FCODE_nC17_a Integer analog %IW141.0 - - default = 50 rpm
FCODE_nC26_1_a Integer analog %IW141.2 - - default = 0.00 %
FCODE_nC26_2_a Integer analog %IW141.3 - - default = 0.00 %
FCODE_nC27_1_a Integer analog %IW141.4 - - default = 100.00 %
FCODE_nC27_2_a Integer analog %IW141.5 - - default = 100.00 %
FCODE_nC32_a Integer analog %IW141.6 - - default = 1
FCODE_nC37_a Integer analog %IW141.7 - - default = 0 rpm
FCODE_nC141_a Integer analog %IW141.12 - -
FCODE_nC108_1_a Integer analog %IW141.8 - - default = 100.00 %
FCODE_nC108_2_a Integer analog %IW141.9 - - default = 100.00 %
FCODE_nC109_1_a Integer analog %IW141.10 - - default = 0.00 %
FCODE_nC109_2_a Integer analog %IW141.11 - - default = 0.00 %
FCODE_bC135Bit0_b Bool binary %IX141.58.0 - - default = 0
... ... ...
FCODE_bC135Bit15_b Bool %IX141.58.15
FCODE_nC141_a Integer analog %IW141.12 - - default = 0.00 %
FCODE_bC250_b Bool binary %IX141.13.0 - - default = 0
FCODE_bC471Bit0_b Bool binary %IX141.14.0 - - default = 0
... ... ...
FCODE_bC471Bit15_b Bool %IX141.14.15
FCODE_bC471Bit16_b Bool binary %IX141.15.0 - - default = 0
... ... ...
FCODE_bC471Bit31_b Bool %IX141.15.15
FCODE_nC472_1_a Integer analog %IW141.16 - - default = 0.00 %
... ... ... C0472/3 = 100.00 %
FCODE_nC472_20_a Integer %IW141.35
FCODE_nC473_1_a Integer analog %IW141.36 - - default = 0
... ... ... C0473/1,2 = 1
FCODE_nC473_10_a Integer %IW141.45
FCODE_dnC474_1_p Double Integer position %ID141.23 - - default = 0
FCODE_dnC474_2_p Double Integer position %ID141.24 - - default = 0
FCODE_dnC474_3_p Double Integer position %ID141.25 - - default = 0
FCODE_dnC474_4_p Double Integer position %ID141.26 - - default = 0
FCODE_dnC474_5_p Double Integer position %ID141.27 - - default = 0
FCODE_nC475_1_v Integer velocity %IW141.56 - - default = 0
FCODE_nC475_2_v Integer velocity %IW141.57 - - default = 0

Function
• In Abb. 2-27 you will find code names in You can configure these codes. Their
values are assigned directly to the corresponding variables.
– A fixed scaling routine relates the codes to the variable values.
– In the code table, you can find the options that can be set, and the Lenze settings. ( 4-15) ^
• Example:
– You can enter a defined speed (rpm) through C0017. This value is assigned to the variables
FCODE_nC17_a with the data type “Integer”.

2-46 9300ServoPLC EN 1.4

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System blocks
2.12 Free Codes (FCODE_FreeCodes)

Important:
The code C0470 is not available as a system variable. This code occupies the same memory address
as code C0471. The double-word is divided into 4 bytes (C0470/1...4). Code C0470 can be written
to via the keypad/GDC.

Normalization in the 9300 Servo PLC:

• rpm Õ INT
• 15000 rpm 16384 214
• % Õ INT
• 100 % 16384 nmax [C0011]

9300ServoPLC EN 1.4 2-47

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System blocks
2.13 Internal motor control (MCTRL_MotorControl)

2.13 Internal motor control (MCTRL_MotorControl)

This SB contains the control functions for the drive machine. It consists of: phase-angle controller,
speed controller and motor control.

M C T R L
M C T R L _ b Q s p O u t_ b M C T R L _ b Q s p In _ b

C 0 9 0 7 /3 C 0 0 4 2
M C T R L _ n H iM L im _ a

M C T R L _ n L o M L im _ a C 0 9 0 6 /4
M C T R L _ n N S e tIn _ a
M C T R L _ b N M S w t_ b C 0 9 0 6 /3
C 0 0 5 0
C 0 9 0 7 /2 M C T R L _ b M M a x _ b
M C T R L _ b IL o a d _ b
M C T R _ n M S e tIn _ a
M C T R L _ n IS e t_ a C 0 9 0 7 /4
C 0 0 5 6 M C T R L _ b IM a x _ b
C 0 1 0 5 C 0 9 0 6 /8
M C T R L _ n IA c t_ a
M C T R L _ n D C V o lt_ a
C 0 9 0 9
M C T R L _ n M A c t_ a
± 1 0 0 %
1 1
+ + + 0 V E C T -C T R L P W M
M C T R L _ n N S e t_ a 0 0
+ - + 1
C 0 9 0 6 /1
C 0 2 5 4 C 0 0 7 2
M C T R L _ P A d a p t_ a C 0 0 7 0
C 0 0 0 6 C 0 0 1 8
C 0 0 7 1
C 0 0 2 2
C 0 9 0 6 /9
C 0 0 7 5
M C T R L _ d n P o s S e t_ p -
1 C 0 0 7 6
C 0 9 0 8 + C 0 0 7 7
M C T R L _ n P o s L im _ a C 0 0 8 6 C 0 0 7 8
C 0 0 8 1
M C T R L _ b P o s O n _ b C 0 9 0 6 /5 C 0 0 8 4
C 0 0 8 5
M C T R L _ n N S ta r tM L im _ a C 0 9 0 7 /1
C 0 0 8 7
C 0 9 0 6 /6 C 0 0 8 8
M C T R L _ n M A d d _ a
C 0 0 8 9
C 0 9 0 6 /2 C 0 0 9 0
M C T R L _ n F ld W e a k _ a
C 0 0 9 1
C 0 9 0 6 /7

U G -V O L T A G E

M O N IT -L U M C T R L _ b U n d e r v o lta g e _ b

C 0 0 5 3
C 0 1 7 3

M O N IT -O U M C T R L _ b O v e r v o lta g e _ b

c o n s t
Im o to r M O N IT -O C 1 M C T R L _ b S h o r tC ir u it_ b

c o n s t

M O N IT -O C 2 M C T R L _ b E a r th F a u lt_ b

C O N S T

M C T R L _ n P o s _ a

R E S O L V E R M C T R L _ n N A c t_ v
X 7
M C T R L _ n N A c t_ a
C 0 5 9 6 M C T R L _ d n P o s _ p
C 0 0 5 1
E N C O D E R
X 8 C 0 4 2 0
C 0 0 1 1 C 0 4 9 7 M O N IT -N M A X M C T R L _ b N m a x F a u lt_ b
C 0 4 9 0 C 0 0 2 5
C 0 4 9 5 c o n s t

M O N IT -S d 2 M C T R L _ b R e s o lv e r F a u lt_ b

M C T R L _ b F r e q E n a b le _ b M C T R L _ b A c tW a itF o r T P _ b

M P T P /M P M C T R L _ b A c tT P R e c e iv e d _ b
0
-C trl
E 4 M C T R L _ d n A c tIn c L a s tS c a n _ p
1

M C T R L _ n N m a x C 1 1
C 0 9 1 1 C 0 9 1 0 T E M P -M O T O R
1 5 0 0C
(X 7 o r X 8 )
M O N IT -O H 3 M C T R L _ b T M o tG T S e tV a lu e _ b

C 0 0 6 3 C 0 1 2 1

M O N IT -O H 7 M C T R L _ b T M o tG T C 0 1 2 1 _ b

D IN 4 4 0 8 1

T e r m in a l( T 1 /T 2 ) M O N IT -O H 8 M C T R L _ b P T C O v e rT e m p _ b

Abb. 2-28 Internal motor control (MCTRL)

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System blocks
2.13 Internal motor control (MCTRL_MotorControl)

• The process image is created in a fixed system task (interval: 1 msec).

Exception: MCTRL_bActTPReceived_b , MCTRL_dnActIncLastScan_p and MCTRL_nNAct_v
are read into the process input image of the task in which they are actually used.
VariableName DataType SignalType Address DIS DIS format Note
MCTRL_bQspOut_b Bool binary %QX131.0.0 C0907/3 bin TRUE = drive performs QSP
MCTRL_nHiMLim_a Integer analog %QW131.4 C0906/4 dec [%] Upper torque limit in % of C0057
MCTRL_nLoMLim_a Integer analog %QW131.3 C0906/3 dec [%] Lower torque limit in % of C0057
MCTRL_bNMSwt_b Bool binary %QX131.0.1 C0907/2 bin FALSE = speed control active
TRUE = torque control active
MCTRL_nNAdapt_a Integer analog %QW131.12 - - Adaptive Vp of the speed controller
MCTRL_bILoad_b Bool binary %QX131.0.3 C0907/4 bin TRUE = I component of the n-control-
ler is accepted by MCTRL_nISet_a
MCTRL_nISet_a Integer analog %QW131.7 C0906/8 dec [%] Input to set the I-component of the
speed controller
MCTRL_nNSet_a Integer analog %QW131.1 C0906/1 dec [%] Input speed setpoint
MCTRL_nPAdapt_a Integer analog %QW131.8 C0906/9 dec [%] Influence in % on VP of C0254; the ab-
solute value (without sign) is proces-
sed
MCTRL_dnPosSet_p Double integer position %QD131.5 C0908 dec [inc] Input phase controller for difference
between set and actual phase
MCTRL_nPosLim_a Integer analog %QW131.9 C0906/5 dec [%] Influence of the phase controller in %
of nmaxC0011
MCTRL_nPosOn_a Integer analog %QX131.0.2 C0907/1 dec [%] TRUE = activate phase-angle control-
ler
MCTRL_nNStartMLim_a Integer analog %QW131.5 C0906/6 dec [%] Lower speed limit for speed restriction
MCTRL_nMAdd_a Integer analog %QW131.2 C0906/2 dec [%] Additional torque setpoint or torque
setpoint
MCTRL_nFldWeak_a Integer analog %QW131.6 C0906/7 dec [%] Motor excitation
MCTRL_bQspIn_b Bool binary %IX131.0.0.0 C0042 bin TRUE = drive performs QSP
MCTRL_nNSetIn_a Integer analog %IW131.1 C0050 dec [%] In % of nmax (C0011)
MCTRL_bMMax_b Bool binary %IX131.0.2 - - TRUE = Speed controller operates wit-
hin its limits
MCTRL_nMSetIn_a Integer analog %IW131.3 C0056 dec [%] In % of Mmax (C0057)
MCTRL_bIMax_b Bool binary %IX131.0.1 - - TRUE = Drive operates at its current
limit C0022
MCTRL_nIAct_a Integer analog %IW131.5 - - Actual motor current
MCTRL_nDCVolt_a Integer analog %IW131.6 - - 100% = 1000V
MCTRL_nMAct_a Integer analog %IW131.4 - - In % of Mmax (C0057)
MCTRL_bUndervoltage_b Bool binary %IX131.0.3 - - Monitor: undervoltage
MCTRL_bOvervoltage_b Bool binary %IX131.0.4 - - Monitor: overvoltage
MCTRL_bShortCiruit_b Bool binary %IX131.0.5 - - Monitor: short-circuit
MCTRL_bEarthFault_b Bool binary %IX131.0.6 - - Monitor: short to earth
MCTRL_bIxtOverload_b Bool binary %IX131.9.2 - - Monitor: I⋅t overload
MCTRL_nPos_a Integer analog %IW131.7 - - Actual phase as analog signal
90 ° = 100%
MCTRL_nNAct_v Integer velocity %IW131.8 - - actual speed
(INT) 16384 = 15000 rpm
MCTRL_nNAct_a Integer analog %IW131.2 - - In % of nmax (C0011)
MCTRL_dnPos_p Double integer position %ID131.5 - - 65536 inc = one revolution
MCTRL_bNmaxFault_b Bool binary %IX131.0.7 - - Monitor: max. system speed exceeded
MCTRL_bResolverFault_b Bool binary %IX131.0.8 - - Monitor: resolver error
MCTRL_bEncoderFault_b Bool binary %IX131.9.1 - -
MCTRL_bSensorFault_b Bool binary %IX131.9.0 - - Monitor: absolute value encoder error
MCTRL_bActTPReceived_b Bool binary %IX131.0.10 - - Touch Probe (TP) received
MCTRL_dnActIncLastScan_p Double integer position %ID131.6 - - ∆incr. between TP and start of task

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2.13 Internal motor control (MCTRL_MotorControl)

VariableName DataType SignalType Address DIS DIS format Note

MCTRL_bMotorTemp Bool binary %IX131.0.11 - - Monitor: motor temperature > 150 ºC
GreaterSetValue_b
MCTRL_bMotorTemp Bool binary %IX131.0.12 - - Monitor: motor temperature > C0121
GreaterC0121_b
MCTRL_bKuehl Bool binary %IX131.0.14 - - Monitor:
GreaterSetValue_b heat sink temperature > 85 ºC
MCTRL_bKuehl Bool binary %IX131.0.15 - - Monitor:
GreaterC0122_b heat sink temperature > C0122
MCTRL_bPtcOverTemp_b Bool binary %IX131.0.13 - - Monitor: motor over temperature (PTC)
MCTRL_nNmaxC11 Integer - %IW131.15 - - Shows the max. speed set under
C0011

Function range
• Current controller
• Torque limiting
• Additional torque setpoint
• Speed controller
• Torque control with speed limit
• Limiting of speed setpoint
• Phase controller
• Rapid stop (Quickstop, QSP)
• Field weakening
• Chopping frequency changeover
• Touch-probe
• Monitoring

2.13.1 Current controller

Adapt current controller under C0075 (proportional gain) and C0076 (adjustment time) to the
connected machine.

Tip!
Set a suitable motor from the motor selection list (see Operating Instructions for the drive controller)
in C0086. This automatically sets the correct parameters for the current controller.

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.2 Additional torque setpoint

MCTRL_nMAdd_a is used, depending on the operation of MCTRL_bNMSwt_b as a torque setpoint
or an additional torque setpoint. The additional torque setpoint can be used, for example for friction
compensation or for speed injection (dv/dt).
• With MCTRL_bNMSwt_b = FALSE, the speed control is active.
– MCTRL_nMAdd_a is added to the output of the n-controller.
– The limits given by the torque limiting MCTRL_nLoMLim_a and MCTRL_nHiMLim_a cannot
be exceeded.
• With MCTRL_bNMSwt_b = TRUE, the torque control is active.
– MCTRL_nMAdd_a acts as a torque setpoint.
– The n-controllers have a monitoring function.
• The torque setpoint is provided in [% ] of the maximum torque (code C0057 = 100% = 16384).
– Negative values mean a torque with CCW rotation of the motor.
– Positive values mean a torque with CW rotation of the motor.

2.13.3 Torque limiting

Via MCTRL_nLoMLim_a and MCTRL_nHiMLim_a you can set an external torque limiting. This means
that different torques can be set for the quadrants ”driving” and ”braking”.
• MCTRL_nHiMLim_a is the upper torque limit in [% ] of the maximum possible torque (code
C0057 = 100% = 16384).
• MCTRL_nLoMLim_a is the lower torque limit in [% ] of the maximum possible torque (code
C0057 = 100% = 16384).
• the torque limiting is deactivated for a Quickstop.

Stop!
In MCTRL_nHiMLim_a set only positive values, and in MCTRL_nLoMLim_a only negative values,
otherwise the speed controller may lose control.The drive may accelerate out of control.

2.13.4 Speed controller

The speed controller is designed as an ideal PID - controller.

Parameter setting
When a motor from the table is selected under C0086, the parameters are set so that only very few
adaptations to the application are required.
• Parameterize proportional-gain Vp in C0070:
– Enter approx. 50% setpoint speed (100% = 16384 = nmax)
– Increase C0070, until the drive becomes unstable (observe motor noises).
– Reduce C0070, until the drive becomes stable again.
– Reduce C0070 to approx. 50%

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2.13 Internal motor control (MCTRL_MotorControl)

• Integral-action time Tr, parameterize in C0071:

– Reduce C0071, until the drive becomes unstable (observe motor noises).
– Increase C0071, until the drive becomes stable again.
– Set C0071 to approx. twice the value.
• Differential-gain Td, parameterize in C0072:
– Increase C0072 during operation until an optimum control behaviour is achieved.
Via MCTRL_nNAdapt_a you can alter Vp through the PLC program:
• Vp = MCTRL_nNAdapt_a x C0070 (MCTRL_nNAdapt_a default = 100 % ≡ 16384)
• Vp = 100 % x C0070 ≡ Vp = C0070

Signal limit
When the drive outputs the maximum torque, the speed controller is at its limit.
• The drive cannot follow the speed setpoint.
• With MCTRL_bMMax_b = TRUE, this state is shown.

Set integral component

To enter defined starting values for the torque, the integral component of the n-controller can be set
externally (e.g. when using the brake control).
• MCTRL_bILoad_b = TRUE
– The n-controller accepts the value at MCTRL_nISet_a for its integral component.
– The value at MCTRL_nISet_a acts as a torque setpoint for the motor control.
• MCTRL_bILoad_b = FALSE
– Function switched off.

2.13.5 Torque control with speed restriction

With MCTRL_bNMSwt_b = TRUE activates this function. For the speed restriction, a second speed
controller (auxiliary speed controller) is connected.
• MCTRL_nMAdd_a acts as a bipolar torque setpoint.
• n-controller 1 generates the upper speed limit.
– The upper speed limit is given at MCTRL_nNSet_a in [% ] of nmax (C0011)
(nmax = 100% = 16384) (pos. sign for clockwise rotation).
– Use the upper speed limit only for the clockwise direction of rotation.
• n-controller 2 (auxiliary controller) generates the lowerspeed limit.
– The lower speed limit is given at MCTRL_nNStartLim_a in [% ] of nmax (C0011)
(nmax = 100% = 16384) (negative sign for CCW/anticlockwise direction of rotation).
– Use the lower speed limit only for the CCW direction of rotation.

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.6 Speed-setpoint restriction

The speed setpoint restriction in the input MCTRL_nNSet_a is to ±100% of nmax (C0011)
(nmax = 100% = 16384).
You can use C0909 to set a restriction of rotational direction, referred to the speed setpoint.

2.13.7 Phase-angle controller

The phase controller is required to achieve a phase synchronization and driftfree standstill.

Tip!
Select a configuration with digital frequency coupling (*.lpc), since this allows an automatic
connection of all important signals. On this basis, you can optimize the system.

Activate phase controller

1. Assign MCTRL_nPosLim_a to a signal source that provides the phase-angle difference
between the set and actual phase-angles.
2. At MCTRL_nPosLim_a enter a value > 0.
3. Switch MCTRL_bPosOn_b = TRUE.
^
4. Set the gain (C0254) for the phase-angle controller > 0. ( 2-51)
– Before setting C0254, select a P-gain (C0070) for the n-controlleras high as possible.
– During operation increase C0254, until the drive shows the desired control behaviour.

Phase controller influence

The output of the phase controller is added to the speed setpoint.
• If the actual phase is lagging, the drive is accelerated.
• If the actual phase is leading, the drive is decelerated, until the desired phase synchronization
is achieved.
The influence of the phase controller consists of:
• Phase difference multiplied by the P-gain Vp (C0254).
• Additional influence of an analog signal at MCTRL_nPAdapt_a.
(Vp = C0254 * MCTRL_nPAdapt_a / 16384)
• Limiting of the phase-angle controller output to ±MCTRL_nPosLim_a.

Limiting of the phase-angle controller output

This limits the maximum catch-up speed of the drive in the event of large phase differences.

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.8 Quickstop QSP

The quick stop function is used to stop the drive independently of the setpoint input, within a time
to be set.

DCTRL_bQspIn_b OR MCTRL_bQspOut_b

C0907/3
Any Variable
MCTRL_nHiMLim_a

C0906/4
MCTRL_nLoMLim_a

MCTRL_bNMSwt_b C0906/3

MCTRL_bILoad_b C0907/2

Abb. 2-29 Programming the QSP-function, if SB DCTRL is to trigger QSP

The Quickstop function is active if MCTRL_bQsp_b = TRUE

If the SB DCTRL is to trigger QSP, program the QSP-function according to Abb. 2-29.

Function:
• If torque control is selected, this will be deactivated. The drive is controlled by the speed
controller.
• The speed decelerates to zero, with the deceleration time set under C0105.
• The torque limiting MCTRL_nLoMLim_a and MCTRL_nHiMLim_a are switched to inactive.
• The phase controller is activated. If the rotor position is shifted actively, the drive generates a
torque against this displacement, if
– C0254 is not zero
– MCTRL_nPosLim_a triggered with a value > 0% .

Stop!
If the field is weakened manually (MCTRL_nFldWeak_a < 100% ), the drive cannot supply the
maximum torque.

2.13.9 Field weakening

The field weakening does not have to be set if the motor type was set under under C0086. All
necessary settings are done automatically. The motor is operated in the field weakening, if:
• the output voltage of the controller exceeds the rated motor voltage set under C0090.
• the controller can no longer increase the output voltage with increasing speed, due to the
mains voltage or DC bus voltage.

Manual field weakening

A manual field weakening is possible via MCTRL_nFldWeak_a For max. excitation,
MCTRL_nFldWeak_a must have +100% (= 16384) applied.

Stop!
The available torque is reduced by the field weakening.

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.10 Chopping frequency changeover

You can select the following frequency for the inverter:
• 8 kHz fixed, for operation with optimum power (C0018 = 1)
– maximum power output of the controller, but with audible pulse operation
• 16 kHz fixed, for operation with optimum noise (C0018 = 2)
– inaudible pulse operation of the controller, but with reduced power (torque)
• automatic change-over between operation with optimum power and optimum noise
(C0018 = 0)

Automatic chopping frequency changeover

The automatic chopping frequency changeover can be used if you want to operate the drive in the
noise-optimized range, but the available torque in this case is not sufficient for acceleration
purposes.
Condition M = f(I) Function
M < Mr16 (Ir16) Controller operates with 16 kHz (optimum noise)
Mr16 (Ir16) < M < Mr8 (Ir8) Controller changes to 8 kHz (optimum power)
M > Mmax8 (Imax8) Controller operates with 8 kHz at its current limit

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.11 Touch-Probe (TP)

T P

M C T R L _ d n A c tIn c L a s tS c a n _ p
ϕ

Abb. 2-30 Function diagram of a TP

Time-equidistant start of an interval-task

ϕ Phase-angle signal

Functional sequence
1. The TP is triggered by a FALSE-TRUE edge at the digital input X5/E4 or by a zero pulse from
X8 or X7.
– Use C0911 to select whether the TP should be carried out by the MP (marker pulse input X8
or zero pulse from resolver) or from the X5/E4 input.
– Use C0910 to set a delay (unit: increments) for a TP. This means that the TP/MP-Ctrl has a
delayed response to a TP.
– Through C0912 you can set up whether the TP from E4 should be triggered by a rising or
falling edge (0 = rising edge, 1 = falling edge).
– Use C0490 to select the feedback system that generates the zero pulse.
2. If a TP has occurred, then MCTRL_bActTPReceived_b = TRUE.
3. After the start of the task, MCTRL_dnActIncLastScan_p gives the number of increments
[inc/msec] that have been counted since the TP.
4. Following, MCTRL_bActTPReceived_b = FALSE is set.

Tip!
It is also necessary that MCTRL_nNAct_v is processed in the task, so that the SB MCTRL is read in.

MCTRL_nNAct_v
• The value MCTRL_nNAct_v is scaled in increments per millisecond.
(INT 16384 ≡ 15000 rpm)
• For every task in which MCTRL_nNAct_v is used, the operating system creates an individual
counter that is reset after every start of the task.

2-56 9300ServoPLC EN 1.4

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System blocks
2.13 Internal motor control (MCTRL_MotorControl)

Example (MCTRL_nNAct_v in a 10 msec task):

• When the 10 msec task starts, the value of the counter is stored in a local area of the task and
the counter is reset. The value in the local area gives an average value in increments per 1
msec.
• If a position value is to be derived from this value, then it must be multiplied by
SYSTEM_nTaskInterval / 4, to get the result in increments per 10 msec, as in the example.
Example: In a 1 msec task, SYSTEM_nTaskInterval has the value 4 (4 * 250 µs = 1 msec)
• For Lenze FBs, this procedure has already been implemented in the FBs.

2.13.12 System marker MCTRL_nNmaxC11

The system marker MCTRL_nNmaxC11 shows the max. speed set under C0011. This value is the
reference value for all “_a” values (16384 ≡ MCTRL_nNmaxC11)
• With the help of this system marker you can program your own scaling routines in the
parameter manager.
• Example: C0011 = 3000 rpm → MCTRL_nNmaxC11 = 3000

2.13.13 Monitoring
Various monitoring functions protect the drive from impermissible operating conditions.
If a monitoring function is activated,
• the corresponding set reaction is triggered,
• boolean (logic) variables are set to TRUE. You can use these variables in the PLC application
program.

2.13.13.1 Undervoltage (LU)

• This function monitors the DC-bus and protects the drive.
• The message is triggered by MCTRL_bUndervoltage_b = TRUE.
Supply voltage range Selection number Switch-off threshold Switch-on threshold
(C0173)
< 400 V 0 285 V 430 V
400 V 1 285 V 430 V
400 0 460 V 2 328 V 473 V
480 V without brake chopper 3 342 V 487 V
Operation with brake chopper 4 342 V 487 V
(up to 480 V)

Function
The monitoring reacts if the DC-bus voltage (terminal +UG and -UG) goes below the threshold
(switch-off level) that was set by C0173.
The message is reset if the voltage goes above the switch-off threshold again.
The switch-off threshold determines the voltage level of the DC-bus voltage at which the pulse inhibit
is activated.
The input variable MCTRL_bUndervoltage_b can be processed in the PLC application program.
The selection number is also effective for the overvoltage monitoring OU. ( 2-58) ^
Adapt the setting of the codes to the available mains voltage (also for operation
via+UG/-UG-terminals). When the controller is operated in a network of drives, all controllers must
have the same setting.

9300ServoPLC EN 1.4 2-57

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2.13 Internal motor control (MCTRL_MotorControl)

If the undervoltage (LU) message is present for more than 3 seconds or if the event is a power-on,
this is entered into the history buffer. This can be the case if the control module is supplied externally
by terminals X5/39 and X5/59 and the mains is switched off.
If the signal is reset (mains is reconnected) this is not entered in the history buffer, but only deleted
(this is not a fault, but acontroller state).
If the events are low voltage messages appearing only for less than 3 seconds, this is interpreted as
interference (e.g. mains supply fault)and entered into the history buffer. In this case, the history buffer
is continued.
Features:
• LECOM no.: 1030
• Reaction: MESSAGE (cannot be modified)

2.13.13.2 Overvoltage (OU)

• This function monitors the DC-bus and protects the drive.
• The message is triggered by MCTRL_bOvervoltage_b = TRUE.
Supply voltage range Selection number Switch-off threshold Switch-on threshold
(C0173)
< 400 V 0 770 V 755 V
400 V 1 770 V 755 V
400 0 460 V 2 770 V 755 V
480 V without brake chopper 3 770 V 755 V
Operation with brake chopper 4 800 V 785 V
(up to 480 V)

Function
The monitoring reacts if the DC-bus voltage (terminal +UG and -UG) goes above the threshold
(switch-off level) that was set by C0173.
The message is reset if the voltage falls below the switch-off threshold again.
The table above shows the setting of the switching thresholds according to the selection number.
The switch-off threshold determines the voltage level of the DC-bus voltage at which the pulse inhibit
is activated.
^
The selection number is also effective for the undervoltage monitoring (LU). ( 2-57)
Features:
• LECOM no.: 1020
• Reaction: MESSAGE (cannot be modified)
A frequent overvoltage message indicates an incorrect dimensioning of the drive (the braking energy
is excessive).

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2.13 Internal motor control (MCTRL_MotorControl)

Remedy:
• Use supply module 934X or
• Use (additional) brake choppers type 935X
When several controllers are operated simultaneously, an operation as DC bus connection may be
useful.
Here, the generated brake energy of one drive can serve as drive energy for another drive.
The mains connections only supply the energy difference.

2.13.13.3 EarthFault (monitoring for earth fault OC2)

• This function protects the drive controller.
• The message is triggered by MCTRL_bEarthFault_b = TRUE.

Function
The controllers of the 93XX series are equipped with an earth fault detection as a standard.
If the monitoring is triggered, the drive controller must be disconnected from the mains power and
the earth fault must be removed.
Features:
• LECOM no.: 12
• Reaction: TRIP (cannot be modified)

Possible earth fault causes:

• Short-circuit to frame of the machine
• Short-circuit of a phase to the screen
• Short-circuit of a phase to PE

2.13.13.4 ShortCircuit (monitoring for a short-circuit OC1)

• This function protects the drive controller.
• The message is triggered by MCTRL_bShortCiruit_b = TRUE.

Function
This monitoring is triggered by a short-circuit of the motor phases. It can also be a short-circuit of the
windings in the machine.
This monitoring however, also reacts during mains connection (power-on), if there is an Earth fault
present.
If the monitoring is triggered, the drive controller must be disconnected from the mains power and
the earth fault must be removed.
Features:
• LECOM no.: 11
• Reaction: TRIP (cannot be modified)

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.13.5 TMot>SetValue (motor-temperature monitoring OH3 - fixed)

• This function protects the motor from overheating
• The message is triggered by MCTRL_bMotorTempGreaterSetValue_b = TRUE.

Function
The signal TMot>SetValue is derived from a comparator with hysteresis. The switch-off threshold is
150°C, and is fixed. The hysteresis is also fixed and amounts to15°C ( i.e. the reclosing point is
135°C.This monitoring is only effective for the thermal sensor specified by Lenze as it is included in
the standard Lenze servo motor. The Sub-D connectors X7 or X8 serve as inputs.

Stop!
You can only use X7 or X8. The other input must not be assigned (must remain open). This monitoring
is activated by default setting. This means that the monitoring reacts if no Lenze servo motor is used.

Features:
• LECOM no.: 53
• Reaction: TRIP or OFF

2.13.13.6 TMot>C0121 (motor-temperature monitoring OH7 - adjustable)

• This function monitors the process.
• The message is triggered by MCTRL_bMotorTempGreaterC0121_b = TRUE.
This monitoring is designed as a warning before the final disconnection (TRIP) through
TMot>SetValue.
You can thus influence the process to avoid a switch-off of the motor at an inconvenient time.
Additionally, blowers which would cause an unacceptable noise in continuous operation, can also
be switched on and off.

Function
The signal TMot>C0121 is derived from a comparator with hysteresis.
The same conditions apply here as for the monitoring TMot>SetValue (motor-temperature
monitoring OH3), since the same inputs are used.
The threshold is set under code C0121. The hysteresis is fixed and amounts to 15 K. The signal is
thus reset below a threshold of 15 K.
Features:
• LECOM no.: 2057
• Reaction: WARNING or OFF

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2.13 Internal motor control (MCTRL_MotorControl)

2.13.13.7 PTCOverTemp (motor-temperature monitoring OH8)

• This function protects the motor.
• The message is triggered by MCTRL_bPTCOverTemp_b = TRUE.

Function
The signal PTCOverTemp is derived from the digital signal via the terminalsT1, T2 next to the power
terminals UVW. The threshold and the hysteresis depend on the encoder system (DIN44081).

Stop!
When using this input as a motor protection: If the monitoring is set to WARNING or OFF, the motor
can be destroyed by any further overload.

Features:
• LECOM no.: 58, 2058
• Reaction: TRIP, WARNING or OFF

2.13.13.8 Overcurrent diagram for fault signal OC5

(MCTRL_bIxtOverload)

Ixt diagram (100% load)

Controller output current *

200%

150%

$
100% thermal continuous current100%
for Imotor 150 Iratedx
70% thermal continuous current 70%
for Imotor 150% Iratedx

time
10s 60s 120s 180s
* rated controller current 100%
x depending on the chopping frequency of the inverter
K35.0151

Abb. 2-31 Max. permitted overcurrent depending on the time

9300 Servo PLC

System blocks
2.14 Statebus (STATEBUS_IO)

2.14 Statebus (STATEBUS_IO)

Module number: 51
The SB steers a group of controllers to specified states (e.g. TRIP, QSP or controller inhibit).

+10V STATE_BUS
STATE_BUS_bIn_b
STATE_BUS_bOut_b 1
ST
C0441 ST
X5

Abb. 2-32 Statebus (STATEBUS_IO)

VariableName DataType SignalType Address DIS DIS format Note

STATEBUS_bOUT_b Bool binary %QX51.0.4 C0441 bin
STATEBUS_bIn_b Bool binary %IX51.0.6 - -

Function
The statebus is a device-specific bus system which is designed for Lenze controllers only. The SB
STATEBUS acts on the terminals X5/ST or reacts to a LOW signal at these terminals (multimaster
capability).
• Steers all networked drives to the preselected state.
• Every controller that is connected can set these terminals to a LOW signal.
• All drive controllers that are connected can evaluate the signal levels at these terminals and
process them internally in the programs.
• Up to 20 drive controllers can be connected

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2.14 Statebus (STATEBUS_IO)

Stop!
Do not apply an external voltage across terminals X5/ST.

K1
L1
L2
L3
N
PE

F1 F1 F1
OFF

K1 Z1 Z1 Z1
ON

F2 F3 F2 F3 F2 F3
L1 L2 L3 PE +UG -UG L1 L2 L3 PE +UG -UG L1 L2 L3 PE +UG -UG

93XX - 93XX 93XX - 93XX 93XX - 93XX

PE U V W ST 39 ST PE 28 PE W ST 39 ST PE 28 A4 PE W PE 28 A4
A4 U V U V ST 39 ST

K1 K1 K1

RFR RFR RFR

K35.0122

Abb. 2-33 Monitoring of a network of drives with the state bus

Z1 Mains filter
F1...F5 Fuses
K1 Main contactor

Note!
Further information on the statebus as well as possible applications and commissioning can be
found in the System Manual for the 9300, Project Planning, Part F.

2-66 9300ServoPLC EN 1.4

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3.1 System bus (CAN) in the Lenze drive system

3.1.1 Contact assignment

9300 Servo controller /

8200 vector
9300 Servo PLC

Terminal X4
HI

Terminal X3
GND LO

CG LO HI CG LO HI

Drive PLC

Terminal X5

GND LO HI

9300 Servo controller / 9300 Servo PLC

Terminal designation Explanation
GND CAN-GND Ground reference for CAN-bus; with internal series resistance of 100 Ω and
max. load current of 30 mA
LO CAN-LOW System bus LOW
HI CAN-HIGH System bus HIGH

8200 vector / Drive PLC

Terminal designation Explanation
CG (:8200 vector) CAN-GND System bus ground reference with internal series resistor 100 Ω,
GND (:Drive PLC) max. current load 30 mA
LO CAN-LOW System bus LOW (data line)
HI CAN-HIGH System bus HIGH (data line)

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3.1.2 Wiring of the system bus

Basic structure shown at a Drive PLC with 8200 vector

Drive PLC Controller 1 Controller 2

GND LOW HI GG LO HI GG LO HI GG LO HI GG LO HI

120 120
PES PES plc014

Abb. 3-1 Basic structure of a system bus network

Comments on wiring
We recommend the following signal cable for the wiring:
Specification system bus cable Total length up to 300 m Total length up to 1000 m
Cable type LIYCY 2 x 2 x 0.5 mm2 CYPIMF 2 x 2 x 0.5 mm2
(twisted pairs, with screening) (twisted pairs, with screening)
Cable resistance ≤ 40 Ω/km ≤ 40 Ω/km
Capacitance per unit length ≤ 130 nF/km ≤ 60 nF/km
Connection Pair 1 (white/brown): LO and HI
Pair 2 (green/yellow): GND

Tab. 3-1 Specification of the system bus cable

Tip!
• A terminating resistor of R = 120Ω must be connected to the first and last physically
connected device (see Abb. 3-1).
• Connect cable screen over a large surface to PE potential (PES).

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3.1.2.1 System bus wiring complying to EMC

K 1
L 1
L 2
L 3
N
P E

O F F F 1 F 2 F 3 F 1 F 2 F 3 F 1 F 2 F 3

K 1 Z 1 Z 1 Z 1
O N

K 1

L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G

7 9 3 2 X - 9 3 3 X 7 9 3 2 X - 9 3 3 X 7 9 3 2 X - 9 3 3 X
P E P E P E W P E P E W P E
U V W H I L O G N D 2 8 A 4 U V H I L O G N D 2 8 A 4 U V H I L O G N D 2 8 A 4

R A 1 R A 2

R F R R F R R F R

9300PLC123

1. Every device in the system bus must have a good PE connection.

2. Control cabinets, which include bus devices should be interconnected by a separate
equipotential bonding cable.
3. Motor cables should be screened; connect the screen to both ends:
– at the motor
– at the controller.
Attach the screen using the supplied clamps to the screen sheet or to the conducting
mounting plate of the control cabinet. This means that the cable is stripped in the contact
area of the clamp thus providing a large-surface contact to the clamp and to PE.
4. Select system bus cables according to the specification in the Tab. 3-1.
– Connect the screen at both ends.
– Attach using the supplied screen plate:

K35.0021

Strip cable in the contact area of the clamp and make a large-surface contact to the clamp
and to PE.
5. Connect terminating resistor RA = 120Ω at the physical bus ends.
6. Separate control and fieldbus cables from the motor cable!
7. The CAN-GND cable must also be separated from the motor cable.
8. Connect terminal 7 with the screen plate of the controller.
9. Avoid stubs

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3.1.3 Technical data

3.1.3.1 General data of the system bus network

Communication media DIN ISO 11898
Baud rate [kBit/s] • 50
• 125
• 250
• 500
• 1000

3.1.3.2 Feasible bus length

Depending on the data-transmission speed, the following bus lengths are possible:
Baud rate [kBit/s] 50 125 250 500 1000
Cable length [m] 1000 550 250 120 25

3.1.3.3 Communication times

The communication times for the system bus depend on
• the priority of the data
• the loading of the bus
• the data-transmission speed
• the processing time in the drive controller

Telegram throughput times

The telegram throughput time for 8 bytes of user data depends on the data-transmission speed:
Baud rate [kBit/s] 50 125 250 500 1000
Telegram throughput time 2.7 1.05 0.52 0.26 0.13
[msec]

Processing times in a LENZE controller

• Parameter: typically 30...50 msec
• Process data: 1...2 msec

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3.1.4 Commissioning
1. Switch on the controller or PLC (main supply or external 24 V supply).
2. If necessary, change the transmission speed (C0351) using the operating module 9371 BB or
the PC (default setting 500 kBaud).
– This setting must be identical for all participating bus devices.
3. Set the CAN address (C0350) using the operating module 9371BB or the PC ( 3-34) ^
– This CAN address must be unique for every bus device.A multiple assignment of the same
address results in a BUS-OFF (error code CE4, error number 65; see chapter Monitoring
^ ^
( 4-3) and chapter Error messages ( 4-11)).
The default setting of the controllers is C0350 = 1.
4. The communication of all devices connected to the system bus is possible now. You can read
all codes and change all codes which can be written.

3.1.5 Programming

3.1.5.1 General
The integrated system bus provides a considerable extension of the bus device functionality. These
are, among others:
• Parameter entries
• Data exchange between drive controllers
The connection of other modules is easily possible. These are, among others:
• decentralized terminals
• controls and input devices
• external controls and control systems
The user can, for example, implement an exchange of data between one drive controller and another,
with digital control, speed and torque signals, without having knowledge of the bus system.
A total of 5 input signals and 5 output channels are available for data communication, that can all be
used independently.
They include 2 parameter channels (SDO = Service Data Object).

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3.1.5.2 Parameter channels

Parameters are values that are stored in the Lenze drive controllers in a code position. Parameters
are set, for example, for one-off system settings or a change of materials in a machine.
Parameter are transmitted with a low priority.

Parameter channel 1 Parameter channel 2

write write

read read Parameters

(Code)

Parameters
(Code)

HMI PC

Abb. 3-2 Connection of devices through two parameter channels

With 2 parameter channels it is possible to connect of 2 different devices for parameter setting, e.g.
the simultaneous connection of a PC and an operating unit (see Abb. 3-2).

Tip for 9300 Servo PLC!

The blocksL_ParRead / L_ParWrite (from: LenzeDrive.lib) read and write access to other Lenze
devices is possible.

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3.1.5.3 Process data channels

Process data are data with a high priority, and are optimised for high speed in transmission and
processing.

A cyclic process data channel CAN1_IO (PDO = Process Data Objekt)

The process data via CAN1_IO are intended for a higher-level control system.

Cyclic process data

Process data channel 1
(Setpoint and actual values)

CAN1_IN

CAN1_OUT

Control system

Abb. 3-3 Process data CAN1_IO for a higher-level control system

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Two event-controlled process data channels with selectable and adjustable cycles(PDOs)
CAN2_IO, CAN3_IO
These process data channels are intended for exchanging data between one drive controller and
another. Another application of these process data is for decentralised input and output terminal.
Higher-level control systems can also use these channels.

Event-controlled process data

Process data channel 2

CAN2_IN CAN2_OUT

CAN2_OUT CAN2_IN

CAN3_OUT CAN3_IN

Event-controlled process data

Process data channel 3

Abb. 3-4 Event-controlled process data channels with adjustable cycles

9300ServoPLC EN 1.4 3-9

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3.2 System blocks for the system bus

3.2.1 System bus (CAN1_IO)

3.2.1.1 Inputs_CAN1 (CAN1_IN)

System bus inputs (Module number: 31)
This SB is used for cyclic data communication with higher-level control systems. A special telegram
(the sync-telegram) must be generated for transmission. ( 3-49) ^
You cannot use this SB for exchanging data between one drive controller and another.

CAN1_IN 16 Bit CAN1_wDctrlCtrl

CAN1_bCtrlQuickstop_b
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
Bit 0 CAN1_bCtrlTripReset_b
CAN1_bCtrlB0_b
CAN1_bCtrlB1_b
CAN1_bCtrlB2_b
Controlword

16
CAN1_bCtrlB4_b
binary
signals CAN1_bCtrlB5_b
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
CAN1_bCtrlB12_b
Bit 15 CAN1_bCtrlB13_b
CAN1_bCtrlB14_b
CAN1_bCtrlB15_b

C0136/2
Byte 3,4

CAN1_nInW1_a
16 Bit
C0866/1
CAN1_nInW2_a
16 Bit

SYSTEMBUS C0866/2
CAN1_nInW3_a
X4 16 Bit

C0866/3 CAN1_bInB0_b

C0863/1 CAN1_bInB2_:b
Byte 5,6

...

16
binary CAN1_bInB14_b
signals
CAN1_bInB15_b

CAN1_bInB16_b
CAN1_bInB17_b
C0863/2
...

16
binary CAN1_bInB30_b
signals
CAN1_bInB31_b
Byte 7,8

16 Bit
LowWord
CAN1_dnInD1_p

16 Bit C0867/1
HighWord

Abb. 3-5 Inputs_CAN1 (CAN1_IN)

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VariableName DataType SignalType Address DIS DIS format Note

CAN1_wDctrlCtrl Word - %IW31.0 C0136/2 hex
CAN1_nInW1_a Integer analog %IW31.1 C0866/1 dec [%] +16384 = +100 %
CAN1_nInW2_a Integer analog %IW31.2 C0866/2 dec [%] +16384 = +100 %
CAN1_nInW3_a Integer analog %IW31.3 C0866/3 dec [%] +16384 = +100 %
CAN1_bCtrlQuickstop_b Bool binary %IX31.0.3 - -
CAN1_bCtrlDisable_b Bool binary %IX31.0.8 - -
CAN1_bCtrlCInhibit_b Bool binary %IX31.0.9 - -
CAN1_bCtrlTripSet_b Bool binary %IX31.0.10 - -
CAN1_bCtrlTripReset_b Bool binary %IX31.0.11 - -
CAN1_bCtrlB0_b Bool binary %IX31.0.0 C0136/2 bin
.. .. .. .. .. ..
CAN1_bCtrlB15_b Bool binary %IX31.0.15 C0136/2 bin
CAN1_bInB0_b Bool binary %IX31.2.0 C0863/1 hex
.. .. .. .. .. ..
CAN1_bInB15_b Bool binary %IX31.2.15 C0863/1 hex
CAN1_bInB16_b Bool binary %IX31.3.0 C0863/2 hex
.. .. .. .. .. ..
CAN1_bInB31_b Bool binary %IX31.3.15 C0863/2 hex
CAN1_dnInD1_p Double-integer position %ID31.1 C0867/1 dec [inc] 65536 = 1 revolution

Function
8 bytes are available for data communication with the drive controller.
Byte Notes Address
1, 2 The device-internal control word is fixed to bytes 1-2. You can apply any boolean variable to a selection of %IB31.0 and %IB31.1
the free binary/logic signals of the control word.
The signals for the functions Quickstop (QSP), DISABLE, CINH, TRIP-SET and TRIP-RESET can be written to
the SB DCTRL via the control word. To do this, connect the variables CAN1_wDctrlCtrl and
DCTRL_wCAN1Ctrl .
These functions are also available through the variable CAN1_bCtrlQuickstop_b, CAN1_bCtrlDisable_b,
CAN1_bCtrlCInhibit_b, CAN1_bCtrlTripSet_b and CAN1_bCtrlTripReset_b. You can read out these signals
and apply further processing to them.
The other 11 bits can be used to control further function blocks.
3, 4 Bytes 3-4 can be selected as a 16-bit data word with the individual signals for quasi-analog signals. %IB31.2 and %IB31.3
5, 6 Bytes 5-6 and bytes 7-8 can be used simultaneously as two quasi-analog values and as phase-angle %IB31.4 and %IB31.5
information with upp to 32 bits of binary information (value
information, (val e 1 or 0).
0) The functional
f nctional assignment is made
7, 8 through variables of the appropriate data type. %IB31.6 and %IB31.7

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3.2.1.2 Outputs_CAN1 (CAN1_OUT)

System bus outputs (Module number: 31)
This SB is used for data communication with higher-level control systems. A special telegram, the
sync-telegram, must be generated for transmission. ( 3-49) ^
This SB cannot be used for exchanging data between one drive controller and another.

C A N 1 _ O U T B it 0

S ta tu s w o rd
C A N 1 _ w D c tr lS ta t
1 6 B it
C A N 1 _ n O u tW 1 _ a

B it 1 5
C 0 8 6 8 /1
C A N 1 _ n O u tW 2 _ a

C 0 8 6 8 /2

3 ,4
C A N 1 _ n O u tW 3 _ a

B y te
C 0 8 6 8 /3 S Y S T E M B U S
X 4
C A N 1 _ b F D O 0 _ b

5 ,6
1 6 B it
...

C A N 1 _ b F D O 1 5 _ b L o w W o rd

B y te
C A N 1 _ b F D O 1 6 _ b
1 6 B it
C 0 1 5 1 /1
H ig h W o r d
...

C A N 1 _ b F D O 3 1 _ b

7 ,8
1 6 B it
C A N 1 _ d n O u tD 1 _ p L o w W o rd

B y te
1 6 B it
C 0 8 6 9 /1
H ig h W o r d

Abb. 3-6 Outputs_CAN1 (CAN1-OUT)

VariableName DataType SignalType Address DIS DIS format Note

CAN1_wDctrlStat Word - %QW31.0 - - -
CAN1_nOutW1_a Integer analog %QW31.1 C0868/1 dec [%]
CAN1_nOutW2_a Integer analog %QW31.2 C0868/2 dec [%] +100 % = +16384
CAN1_nOutW3_a Integer analog %QW31.3 C0868/3 dec [%]
CAN1_bFDO0_b Bool binary %QX31.2.0 C0151/1 hex
.. .. .. .. .. ..
CAN1_bFDO15_b Bool binary %QX31.2.15 C0151/1 hex Display code in hex as
CAN1_bFDO16_b Bool binary %QX31.3.0 C0151/1 hex double-word
.. .. .. .. .. ..
CAN1_bFDO3131_b Bool binary %QX31.3.15 C0151/1 hex
CAN1_dnOutD1_p Double-integer position %QD31.1 C0869/1 dec [inc] 1 revolution = 65536

3-12 9300ServoPLC EN 1.4

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Function
8 bytes are available for data communication with the drive controller.
Byte Notes Address
1, 2 Bytes 1 and 2 form the control word for the controller. %QB31.0 and %QB31.1
The signals for functions such as IMP, CINH etc. can be written from SB DCTRL to the SB CAN1_OUT by
using the status word from SB DCTRL. To do this, connect the variables DCTRL_wStat and
CAN1_wDctrlStat.
Several bits in SB DCTRL are freely assignable. They are configured through the variables
DCTRL_bStatB0_b, DCTRL_bStatB1_b, DCTRL_bStatB2_b, DCTRL_bStatB3_b, DCTRL_bStatB4_b,
DCTRL_bStatB5_b, DCTRL_bStatB14_b and DCTRL_bStatB15_b
3, 4 You can freely link bytes 3 and 4 with variables of the corresponding data type, as a 16-bit data word %QB31.2 and %QB31.3
(quasi-analog signal).
5, 6 It iss poss
possible,
b e, us
usingg ddifferent
e e variables,
a ab es, too writee simultaneously
s u a eous y too bytes
by es 55-6
6 oor by
bytes
es 7-8.
8 Avoid
o d thiss %QB31.4 and %QB31.5
7, 8 situation,
it ti sincei th
the ddatat iin bbytes
t 55-66 or bbytes
t 77-8 8 are th
then nott unambiguous.
bi %QB31.6 and %QB31.7

Byte The variables ... write data simultaneously to ...

CAN1_nOutW2_a Byte
y e 5 and
a d6
CAN1_bFDO0_b ... CAN1_bFDO15_b
CAN1_dnOutD1_p
5-8
CAN1_nOutW3_a Bytes
y es 7-88
CAN1_bFDO16_b ... CAN1_bFDO31_b
CAN1_dnOutD1_p
Example: If you write to bytes 7-8, using the variables CAN1_nOutW3_a and CAN1_dnOutD1_p then bytes 7-8 will be rewritten every time a
variable is processed. The data in bytes 7-8 are thus not unambiguous.

9300ServoPLC EN 1.4 3-13

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3.2.2 System bus (CAN2_IO)

3.2.2.1 Inputs_CAN2 (CAN2_IN)

System bus inputs (Module number: 32)
This SB is used for data communication between one drive controller and another, and the exchange
of data with decentralised inputs and output terminals. It is also possible to exchange data with
higher-level control systems.

C A N 2 _ IN 1 6 B it C A N 2 _ n In W 1 _ a

C 0 8 6 6 /4
1 6 B it C A N 2 _ n In W 2 _ a

B it 0 C 0 8 6 6 /5
C A N 2 _ b In B 0 _ b

C 0 8 6 3 /3 C A N 2 _ b In B 1 _ b
B y te 1 ,2

...
1 6
b in a r y C A N 2 _ b In B 1 4 _ b
s ig n a ls C A N 2 _ b In B 1 5 _ b
B it 1 5
C A N 2 _ b In B 1 6 _ b

C A N 2 _ b In B 1 7 _ b
C 0 8 6 3 /4
S Y S T E M B U S
3 ,4

X 4 1 6

...
B y te

b in a r y
C A N 2 _ b In B 3 0 _ b
s ig n a ls
C A N 2 _ b In B 3 1 _ b

1 6 B it
L o w W o rd
C A N 2 _ d n In D 1 _ p
5 ,6
B y te

1 6 B it C 0 8 6 7 /2
H ig h W o r d

C A N 2 _ n In W 3 _ a
1 6 B it
C 0 8 6 6 /6
C A N 2 _ n In W 4 _ a
7 ,8

1 6 B it
B y te

C 0 8 6 6 /7

Abb. 3-7 Inputs_CAN2 (CAN2_IN)

VariableName DataType SignalType Address DIS DIS format Note

CAN2_nInW1_a Integer analog %IW32.0 C0866/4 dec [%] +16384 = +100 %
CAN2_nInW2_a Integer analog %IW32.1 C0866/5 dec [%] +16384 = +100 %
CAN2_nInW3_a Integer analog %IW32.2 C0866/6 dec [%] +16384 = +100 %
CAN2_nInW4_a Integer analog %IW32.3 C0866/7 dec [%] +16384 = +100 %
CAN2_bInB0_b Bool binary %IX32.0.0 C0863/3 hex
.. .. .. .. .. ..
CAN2_bInB15_b Bool binary %IX32.0.15 C0863/3 hex
CAN2_bInB16_b Bool binary %IX32.1.0 C0863/4 hex
.. .. .. .. .. ..
CAN2_bInB31_b Bool binary %IX32.1.15 C0863/4 hex
CAN2_dnInD1_p Double-integer position %ID32.0 C0867/2 dec [inc] 65536 = 1 revolution

3-14 9300ServoPLC EN 1.4

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Function
For data communication with the drive controller, 8 bytes are available.
Byte Notes Address
1, 2 You can use byte 1, 2 and byte 3, 4 simultaneously as %IB32.0 and %IB32.1
• bbinary
a y information
o a o (up too 32
3 bits),
b s),
3, 4 • 2 values of data type Integer, %IB32.2 and %IB32.3
• 1 value of data type Double Integer.
5, 6 %IB32.4 and %IB32.5
Bytes 5-6
5 6 and bytes 7-8
7 8 can be selected to be a 16
16-bit
bit data word (data type Integer)
Integer).
7, 8 %IB32.6 and %IB32.7

9300ServoPLC EN 1.4 3-15

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3.2.2.2 Outputs_CAN2 (CAN2_OUT)

System bus outputs (Module number: 32)
This SB is used for data communication between one drive controller and another, and the exchange
of data with decentralised inputs and output terminals. It is also possible to exchange data with
higher-level control systems.

CAN2_OUT Bit 0
CAN2_nOutW1_a

Byte 1,2
C0868/4
CAN2_nOutW2_a

C0868/5
CAN2_bFDO0_b
Bit 15
...

16 Bit
CAN2_bFDO15_b LowWord
CAN2_bFDO16_b
16 Bit

Byte 3,4
C0151/2
...

CAN2_bFDO31_b HighWord

16 Bit
LowWord SYSTEMBUS
CAN2_dnOutD1_p X4
16 Bit
C0869/2
HighWord

Byte 5,6
CAN2_nOutW3_a

C0868/6

Byte 7,8

CAN2_nOutW4_a

C0868/7

Abb. 3-8 Outputs_CAN2 (CAN2_OUT)

VariableName DataType SignalType Address DIS DIS format Note

CAN2_nOutW1_a Integer analog %QW32.0 C0868/4 dec [%]
CAN2_nOutW2_a Integer analog %QW32.1 C0868/5 dec [%]
+100 % = +16384
CAN2_nOutW3_a Integer analog %QW32.2 C0868/6 dec [%]
CAN2_nOutW4_a Integer analog %QW32.3 C0868/7 dec [%]
CAN2_bFDO0_b Bool binary %QX32.0.0 C0151/2 hex
.. .. .. .. .. ..
CAN2_bFDO15_b Bool binary %QX32..15 C0151/2 hex Display code in hex as
CAN2_bFDO16_b Bool binary %QX32.1.0 C0151/2 hex double-word
.. .. .. .. .. ..
CAN2_bFDO31_b Bool binary %QX32.1.15 C0151/2 hex
CAN2_dnOutD1_p Double-integer position %QD32.1 C0869/2 dec [inc] 1 revolution = 65536

3-16 9300ServoPLC EN 1.4

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Function
For data communication with the drive controller, 2 ⋅ 8 bytes are available.
Byte Notes Address
1, 2 You can freely link bytes 1-2 and 3-4 with variables of the corresponding data type, as a 16-bit data word %QB32.0 und %QB32.1
(data type Integer).
Integer)
3, 4 It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4. Avoid this %QB32.2 und %QB32.3
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
5, 6 It iss poss
possible,
b e, us
usingg ddifferent
e e variables,
a ab es, too writee simultaneously
s u a eous y too bytes
by es 55-6
6 oor by
bytes
es 7-8.
8 Avoid
o d thiss %QB32.4 und %QB32.5
7, 8 situation,
it ti sincei th
the ddatat iin bbytes
t 55-66 or bbytes
t 77-8 8 are th
then nott unambiguous.
bi %QB32.6 und %QB32.7

Byte The variables ... write data simultaneously to ...

CAN2_nOutW1_a Byte
y e 1 and
a d2
CAN2_bFDO0_b ... CAN2_bFDO15_b
CAN2_dnOutD1_p
1-4
CAN2_nOutW2_a Bytes
y es 3 and
a d4
CAN2_bFDO16_b ... CAN2_bFDO31_b
CAN2_dnOutD1_p
Example: If you write to bytes 3-4, using the variables CAN2_nOutW2_a and CAN2_dnOutD1_p then bytes 3-4 will be rewritten every time a
variable is processed. The data in bytes 3-4 are thus not unambiguous.

9300ServoPLC EN 1.4 3-17

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3.2.3 System bus (CAN3_IO)

3.2.3.1 Inputs_CAN3 (CAN3_IN)

System bus inputs (Module number: 33)
This SB is used for data communication between one drive controller and another, and the exchange
of data with decentralised inputs and output terminals. It is also possible to exchange data with
higher-level control systems.

C A N 3 _ IN 1 6 B it C A N 3 _ n In W 1 _ a

C 0 8 6 6 /8
1 6 B it C A N 3 _ n In W 2 _ a

B it 0 C 0 8 6 6 /9
C A N 3 _ b In B 0 _ b

C 0 8 6 3 /5 C A N 3 _ b In B 1 _ b
B y te 1 ,2

...
1 6
b in a r y C A N 3 _ b In B 1 4 _ b
s ig n a ls C A N 3 _ b In B 1 5 _ b
B it 1 5
C A N 3 _ b In B 1 6 _ b

C A N 3 _ b In B 1 7 _ b
C 0 8 6 3 /6
S Y S T E M B U S
3 ,4

X 4 1 6

...
B y te

b in a r y
C A N 3 _ b In B 3 0 _ b
s ig n a ls
C A N 3 _ b In B 3 1 _ b

1 6 B it
L o w W o rd
C A N 3 _ d n In D 1 _ p
5 ,6
B y te

1 6 B it C 0 8 6 7 /3
H ig h W o r d

C A N 3 _ n In W 3 _ a
1 6 B it
C 0 8 6 6 /1 0
C A N 3 _ n In W 4 _ a
7 ,8

1 6 B it
B y te

C 0 8 6 6 /1 1

Abb. 3-9 Inputs_CAN3 (CAN3_IN)

VariableName DataType SignalType Address DIS DIS format Note

CAN3_nInW1_a Integer analog %IW33.0 C0866/8 dec [%]
CAN3_nInW2_a Integer analog %IW33.1 C0866/9 dec [%]
+16384 = +100 %
CAN3_nInW3_a Integer analog %IW33.2 C0866/10 dec [%]
CAN3_nInW4_a Integer analog %IW33.3 C0866/11 dec [%]
CAN3_bInB0_b Bool binary %IX33.0.0 C0863/5 hex
.. .. .. .. .. ..
CAN3_bInB15_b Bool binary %IX33.0.15 C0863/5 hex
CAN3_bInB16_b Bool binary %IX33.1.0 C0863/6 hex
.. .. .. .. .. ..
CAN3_bInB31_b Bool binary %IX33.1.15 C0863/6 hex
CAN3_dnInD1_p Double-integer position %ID33.0 C0867/3 dec [inc] 65536 = 1 revolution

3-18 9300ServoPLC EN 1.4

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Function
For data communication with the drive controller, 8 bytes are available.
Byte Notes Address
1, 2 You can use byte 1, 2 and byte 3, 4 simultaneously as %IB33.0 and %IB33.1
• bbinary
a y information
o a o (up too 32
3 bits),
b s),
3, 4 • 2 values of data type Integer, %IB33.2 and %IB33.3
• 1 value of data type Double Integer.
5, 6 %IB33.4 and %IB33.5
Bytes 5-6
5 6 and bytes 7-8
7 8 can be selected to be a 16
16-bit
bit data word (data type Integer)
Integer).
7, 8 %IB33.6 and %IB33.7

9300ServoPLC EN 1.4 3-19

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3.2.3.2 Outputs_CAN3 (CAN3_OUT)

System bus outputs (Module number: 33)
This SB is used for data communication between one drive controller and another, and the exchange
of data with decentralised input and output terminals. It is also possible to exchange data with
higher-level control systems.

CAN3_OUT Bit 0
CAN3_nOutW1_a

Byte 1,2
C0868/8
CAN3_nOutW2_a

C0868/9
CAN3_bFDO0_b
Bit 15
...

16 Bit
CAN3_bFDO15_b LowWord
CAN3_bFDO16_b
16 Bit

Byte 3,4
C0151/3
...

CAN3_bFDO31_b HighWord

16 Bit
LowWord SYSTEMBUS
CAN3_dnOutD1_p X4
16 Bit
C0869/3
HighWord

Byte 5,6
CAN3_nOutW3_a

C0868/10

Byte 7,8

CAN3_nOutW4_a

C0868/11

Abb. 3-10 Outputs_CAN3 (CAN3_OUT3)

VariableName DataType SignalType Address DIS DIS format Note

CAN3_nOutW1_a Integer analog %QW33.0 C0868/8 dec [%]
CAN3_nOutW2_a Integer analog %QW33.1 C0868/9 dec [%]
+100 % = +16384
CAN3_nOutW3_a Integer analog %QW33.2 C0868/10 dec [%]
CAN3_nOutW4_a Integer analog %QW33.3 C0868/11 dec [%]
CAN3_bFDO0_b Bool binary %QX33.2.0 C0151/3 hex
.. .. .. .. .. ..
CAN3_bFDO15_b Bool binary %QX33.2.15 C0151/3 hex Display code in hex as
CAN3_bFDO16_b Bool binary %QX33.3.0 C0151/3 hex double-word
.. .. .. .. .. ..
CAN3_bFDO31_b Bool binary %QX33.3.15 C0151/3 hex
CAN3_dnOutD1_p Double-integer position %QD33.1 C0869/3 dec [inc] 1 revolution = 65536

3-20 9300ServoPLC EN 1.4

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Function
For data communication with the drive controller, 2 ⋅ 8 bytes are available.
Byte Notes Address
1, 2 You can freely link bytes 1-2 and 3-4 with variables of the corresponding data type, as a 16-bit data word %QB33.0 and %QB33.1
(data type Integer).
Integer)
3, 4 It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4. Avoid this %QB33.2 and %QB33.3
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
5, 6 It iss poss
possible,
b e, us
usingg ddifferent
e e variables,
a ab es, too writee simultaneously
s u a eous y too bytes
by es 55-6
6 oor by
bytes
es 7-8.
8 Avoid
o d thiss %QB33.4 and %QB33.5
7, 8 situation,
it ti sincei th
the ddatat iin bbytes
t 55-66 or bbytes
t 77-8 8 are th
then nott unambiguous.
bi %QB33.6 and %QB33.7

Byte The variables ... write data simultaneously to ...

CAN3_nOutW1_a Bytes
y es 1,, 2
CAN3_bFDO0_b ... CAN3_bFDO15_b
CAN3_dnOutD1_p
1-4
CAN3_nOutW2_a Bytes
y es 3 and
a d4
CAN3_bFDO16_b ... CAN3_bFDO31_b
CAN2_dnOutD1_p
Example: If you write to bytes 3-4, using the variables CAN3_nOutW2_a and CAN3_dnOutD1_p then bytes 3-4 will be rewritten every time a
variable is processed. The data in bytes 3-4 are thus not unambiguous.

9300ServoPLC EN 1.4 3-21

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3.2.4 Systembus Management (CAN_Management)

Modul number: 101

• The process image is created in a fixed system task (interval: 1 msec).
With this SB
• a Reset-Node can be activated.
(Changes to the baud rate and the addressing only become effective after a reset-node.)
• a Communication Error and Bus Off State can be processed in the PLC-program.
• the transmission time ( Sync Tx Time ) can be modified.

CAN_Management
C0358 ≥1
CAN_bResetNode_b CAN_ResetNode

CAN1_IN CAN_bCe1CommErrCanIn1_b
Communication Error

CAN2_IN CAN_bCe2CommErrCanIn2_b
Communication Error

CAN3_IN CAN_bCe3CommErrCanIn3_b
Communication Error

CAN CAN_bCe4BusOffState_b
Bus Off State

CAN_bTxCan2Synchronized_b
CAN2_OUT CAN_SYNC
CAN_bTxCan3Synchronized_b
CAN3_OUT CAN_SYNC

Abb. 3-11 Systembus Management (CAN_Management)

VariableName DataType SignalType Address DIS DIS format Note

CAN_bResetNode_b Bool binary %QX101.0.0 - - Install the CAN bus
reset-node
CAN_bTxCan2Synchronized_b Bool binary %QX101.0.1 - - CAN-OUT2 transmitted as a
CAN-sync telegram.
CAN_bTxCan3Synchronized_b Bool binary %QX101.0.2 - - CAN-OUT3 transmitted as a
CAN-sync telegram.
CAN_bCe1CommErrCanIn1_b Bool binary %IX101.0.0 - - CAN-IN1
Communication Error
CAN_bCe2CommErrCanIn1_b Bool binary %IX101.0.1 - - CAN-IN2
Communication Error
CAN_bCe3CommErrCanIn1_b Bool binary %IX101.0.2 - - CAN-IN3
Communication Error
CAN_bCe4BusOffState_b Bool binary %IX101.0.3 - - CAN-bus Off State

Function CAN_bResetNode_b
A reset-node is atcivated by setting C0358 = 1 or CAN_bResetNode_b switches immediately =
TRUE.

Tip!
Even if the SB has not been assigned to the control configuration, code C0358 can still be used to
activate a reset-node.

3-22 9300ServoPLC EN 1.4

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Function CAN_bTxCan2Syncronized_b / CAN_bTxCan3Syncronized_b

• FALSE : data from CAN2-OUT/CAN3-OUT are transmitted at the end of the process image.
• TRUE : data from CAN2-OUT/CAN3-OUT are transmitted after a sync (ID: 128), the Sync Tx
Time can be set under the code C0369.

9300ServoPLC EN 1.4 3-23

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3.3 Synchronization of control program cycles

3.3.1 CAN_Synchronization

Module number: 102

CAN_Synchronization

CAN_bResetSyncForInterpolatord_b
CAN_bSyncForInterpolator_b CAN_bSyncInsideWindow_b
CAN_nSyncDeviation

Synchronizes the control program cycle of the drives to the cycle of a higher-level control. This can
also be a Lenze Servo controller of the 9300 series.
Variable Name Data Type Signal Type Address DIS DIS format Note
CAN_b Bool binary %IX102.0.0 TRUE:
SyncInsideWindow_b Sync-Telegram/signal within the
time window (C1123)
FALSE:
• Synchronization left
• no Sync-telegram/signal
• Time window (C1123) too small
CAN_b Bool binary %IX102.0.1 TRUE:
SyncForInterpolator_b Sync-telegram/signal recognized.
CAN_n Integer %IX102.1 current sync difference
SyncDeviation
CAN_b Bool binary %QX102.0.0 TRUE:
ResetSyncForInterpolator_b Reset CAN_bSyncForInterpolator_b

Range of functions
• Possible axis synchronizations
• Sync cycle time (SYNC CYCLE)
• Phase shift (SYNC PHASE)
• Time window (SYNC WINDOW)
• Display, CAN sync cycle (Sync cycle)
• Correction value phase controller (SYNC CORRECT)
• CAN sync reaction (Sync Response)
• CAN sync identifier (Sync Rx ID, Sync Tx ID)
• CAN sync Tx transmission cycle (Sync Tx Time)
• Application examples

9300ServoPLC EN 1.4 3-25

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Possible axis synchronizations

• Synchronization via system bus (CAN) by sync telegram
• Synchronization via terminal by sync signal at terminal X5/E5

Tip!
• The system block CAN_Synchronization must previously be entered into the control
configuration.
• Synchronization via system bus:
– The system bus must previously be correctly installed (see Part 3, Automation).
• Synchronization via terminal:
– The system block DIGITAL_IO must be entered into the control configuration.

Control mode

Code LCD
C Possible settings IMPORTANT
O
Lenze Choice
[C1121] Sync mode 0 0 {1} 2 CAN Sync source
0: Off 0: Synchronization deactivated
1: CAN Sync 1: Synchronizes the controllers on
2: Terminal Sync the sync telegram of the system
bus
2: Synchronizes the controllers on
the sync signal of terminal X5/E5.

Synchronization time
After mains connection and the initialization time of the controller, additional time is needed for
synchronization.
The synchronization time depends on
• the baud rate of the system bus,
• the start time (input of the first sync telegram/signal),
• the time between the sync telegrams/signals,
• the sync correction factor (C0363),
• the control mode (C1120)

3-26 9300ServoPLC EN 1.4

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Axis synchronization via system bus (CAN)

The system bus (CAN) transmits the sync telegram as well as the process signals (for further
information refer to Part 3 ”Networking”).
Application examples:
• Input of cyclic, synchronized position setpoint information for multi-axis applications via the
system bus (CAN).

Axis synchronization via terminal control (X5/E5)

The sync signal and the process signals have different transmission routes.
• The process signals are added via a selectable input channel (e.g. AIF interface, DF input).
• The sync signal is entered via terminals X5 / E5.
Application examples:
• Input of cyclic, synchronized position setpoint information for multi-axis applications via other
bus systems (e.g. INTERBUS).
• Synchronization of internal processing cycles of the FB on higher-level process controls.

Synchronization cycle time

For the synchronization via the system bus (CAN) the master (e.g. PLC) sends a periodic sync
telegram.
For the synchronization via Terminal the master sends a periodic sync signal.
The controllers (slaves) receive the sync telegram/signal and compare the time between two
LOW-HIGH edges of the signal to the cycle time set (C1121).
Code LCD
C Possible settings IMPORTANT
O
Lenze Choice
[C1121] Sync cycle 2 1 {1 msec} 13 Synchronization cycle
Definition of the cycle time of the
sync telegram/signal.
A parameterization is required only
for the slave.

• C1120 = 1 (Synchronization via system bus)

The value set under C1121 is the time between two sync telegrams of the master.
• C1120 = 2 (Synchronization via terminal)
The value set under C1121 is the time between two sync signals (LOW-HIGH edge) of the master at
X5/E5.

Phase shift

Code LCD
C Possible settings IMPORTANT
O
Lenze Choice
[C1122] Sync phase 0 0 {0.001 ms} 6.5 Synchronization phase
Phase shift between the sync
telegram/signal and the start of the
internal control program.

9300ServoPLC EN 1.4 3-27

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Time window
The variable CAN_bSyncInsideWindow_b can be used for synchronization monitoring.
Code LCD
C Possible settings IMPORTANT
O
Lenze Choice
[C1123] Sync-window 0 0 {0.001 ms} 6.5 Synchronization window
If the sync telegram/signal from the
master is within this ”time window”,
CAN_bSyncInsideWindow_b = switch
es to TRUE.

Sync-Window

Sync-Signal

The setpoint integrator of drive 1 is to provide the speed setpoint for drives 1 and 2 (see Abb. 3-13).

Settings:
Drive controller 1 Drive controller 2
C0350 = 1 Node = 1; C0350 = 2 Node = 2;
so that output address for CAN2_OUT = C0350 + 1 so that input address for CAN2_IN = C0350 + 1 =
=2 2
C0352 = 2 Master - -

3.4.1 Programming the application example

This section describes the programming of the application example in Abb. 3-13.

Parameter addressing (code numbers / index)

The parameters for the drive controller are addresssed through the index. The index for Lenze code
numbers (codes) lies in the range from 20567 (5060hex) and 24575 (5FFFhex)
Conversion formula:
Index = 24575 - Lenze code number
(Relevant entry parameters for the bus system.)
A1 A2

CAN2_IN CAN2_nInW1_a
CAN2_OUT Bit 0 16 Bit
MCTRL_nNSet_a
CAN2_nOutW1_a
C0866/4
16 Bit CAN2_nInW2_a
Byte 1,2

C0868/4
CAN2_nOutW2_a Bit 0 C0866/5
CAN2_bInB0_b
C0868/5
Controlword

CAN2_bFDO0_b C0863/3 CAN2_bInB1_b

Bit 15
...

16 Bit

...
CAN2_bFDO15_b LowWord 16
CAN2_bFDO16_b binary CAN2_bInB14_b
16 Bit signals CAN2_bInB15_b
Byte 3,4

C0151/2
...

HighWord Bit 15
CAN2_bFDO31_b
CAN2_bInB16_b

16 Bit SYSTEMBUS CAN2_bInB17_b

C0863/4
Byte 3,4

LowWord
CAN2_dnOutD1_p
...

16
16 Bit binary
C0869/2 X4 X4 CAN2_bInB30_b
HighWord signals
CAN2_bInB31_b
Byte 5,6

CAN2_nOutW3_a

C0868/6
16 Bit
LowWord
Byte 5,6

CAN2_dnInD1_p

16 Bit C0867/2
HighWord
Byte 7,8

CAN2_nOutW4_a
CAN2_nInW3_a
C0868/7 16 Bit
C0866/6
Byte 7,8

CAN2_nInW4_a
16 Bit
C0866/7

dnTir L_RFG
dnTif

nIn nOut

nSet 1

bLoad_b
MCTRL_nNSet_a

Abb. 3-13 Wiring: join X4 of drive controller 1 to X4 of drive controller 2

A1 Drive controller 1
A2 Drive controller 2

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3.4.2 Description of the codes for the system bus

3.4.2.1 Baud-rate setting C0351

The following settings are possible:
C0351 Value [kBit/s]
0 500 (Lenze setting)
1 250
2 125
3 50
4 1000

Save changes with C0003.

The settings only become effective after the following actions:
• A new power-on
• A ”Reset-Node” command via the bus system (^ 3-22, CAN_ResetNode)
• A Reset-Node through code C0358 (^ 3-22, CAN_ResetNode)

3.4.2.2 Defining a master in a drive group C0352

If information is exchanged between one drive and another in a drive group, without a higher-level
control system being present to provide the master function, then one drive controller must be
defined as the master.
The following assignments are valid:
• C0352 = 0: drive is slave (factory setting)
• C0352 = 1: drive is master
The master functionality is only required for the initialisation phase of the drive system.
The master effects a change of state from Pre-Operational to Operational.
An exchange of data through process-data objects is only possible in the Operational state.
^ 3-36 C0359 bus status)
(

In addition, you can define a Boot-Up time for the master during the initialisation phase.
^ 3-35 Boot-Up setting C0356/1)
(

3-32 9300ServoPLC EN 1.4

C0360 telegram counter

All the telegrams for all function blocks and all parameter channels are counted here, which are valid
for the crive controller. The counters have a capacity of 16 bits. If a counter exceeds the value 65535,
the count begins again at 0.
The following messages are counted:
C0360/x Meaning
C0360/1 All transmitted telegrams
C0360/2 All received telegrams
C0360/3 Transmitted telegrams from CAN1_OUT
C0360/4 Transmitted telegrams from CAN2_OUT
C0360/5 Transmitted telegrams from CAN3_OUT
C0360/6 Transmitted telegrams from parameter channel 1
C0360/7 Transmitted telegrams from parameter channel 2
C0360/8 Received telegrams from CAN1_IN
C0360/9 Received telegrams from CAN2_IN
C0360/10 Received telegrams from CAN3_IN
C0360/11 Received telegrams from parameter channel 1
C0360/12 Received telegrams from parameter channel 2

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C0361 Bus load

With these codes you can find out which percentage loading of the bus is required by the drive
controller, or is occupied by the individual data channels or system blocks. Faulty telegrams are not
taken into account in this case.
The individual subcodes indicate the following bus loadings:
C0361/x Meaning
C0361/1 All transmitted telegrams
C0361/2 All received telegrams
C0361/3 Transmitted telegrams from CAN1_OUT
C0361/4 Transmitted telegrams from CAN2_OUT
C0361/5 Transmitted telegrams from CAN3_OUT
C0361/6 Transmitted telegrams from parameter channel 1
C0361/7 Transmitted telegrams from parameter channel 2
C0361/8 Received telegrams from CAN1_IN
C0361/9 Received telegrams from CAN2_IN
C0361/10 Received telegrams from CAN3_IN
C0361/11 Received telegrams from parameter channel 1
C0361/12 Received telegrams from parameter channel 2

The data transmission has limitations that are given by the number of telegrams per time interval and
the data transmission rate.
You can establish these limits for data exchange within a pure drive group, by adding the code
C0361/1 values for all the participating drives.
Example:
3 drives are grouped together through the system bus.
C0361/1 for drive controller 1 23.5% bus loading
C0361/1 for drive controller 2 12.6% bus loading
C0361/1 for drive controller 3 16.0% bus loading
52.1% total bus loading

Tip!
• The bus loading for all participating devices should not exceed 80% .
• If other devices are connected, such as decentralised inputs and outputs, then their telegrams
must also be taken into account.
• A bus-overloading can, for instance, be caused by the event-controlled transmission of
contninuously changing signals.
– Remedy: set the cycle time for the system blocks that are involved (CAN2_OUT and
CAN3_OUT) under C0356/2 and C0356/3 to an appropriate value, such that the sum of all
the bus loadings is not excessive.

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3.4.2.8 Monitoring
Monitoring times C0357
Each individual process-data object can monitor whether a telegram has arrived within the time
defined here. If a telegram has arrived, then the corresponding monitoring time is restarted
(retrigerrable monostable function).
The following assignments are valid:
C0357/1 Monitoring time CAN1_IN
C0357/2 Monitoring time CAN2_IN
C0357/3 Monitoring time CAN3_IN

The response to this monitoring is set by:

• C0591 for CAN1_IN (commErrCANIN1 “CE1”)
• C0592 for CAN2_IN (commErrCANIN2 “CE2”)
• C0593 for CAN3_IN (commErrCANIN3 “CE3”)
The following can be set:
0 = TRIP (the drive controller sets the controller disable)
1 = warning
2 = monitoring is switched off
You can also use the signals as binary output signals, for instance, for the assignment of output
terminals.

Bus Off
If the drive controller has decopled itself from the bus, because of faulty telegrams, the signal
“BusOffState” (CE4) is set.
Just like the signals “commErrCANIN1” (CE1), “commErrCANIN2” (CE2), “commErrCANIN3” (CE3),
this signal can trigger a TRIP or warning, or you can switch it off. The response is set with C0595. It
is also possible to assign a terminal output in this case.

Reset-Node C0358
Entries of altered transmission rates or changed addresses for the process-data objects or device
addresses will only become effective after a Reset-Node.
A Reset-Node can be made by:
• A fresh power-on
• Reset-Node through the bus system (^ 3-22, CAN_ResetNode)
• Reset-Node through C0358 (^ 3-22, CAN_ResetNode)

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3.4.3 Communication profile of the system bus

Description of the CAL-based communication profile DS 301 (CANopen) for the 93XX series of
controllers.
Simplified repesentation of the structure of a CAN-telegram:

11-bit identifier 8-byte user data

Abb. 3-14 Structure of a CAN-telegram (simplified representation)

3.4.3.1 Data description

Identifier
The identifier fixes the priority for the message. Also coded here in CANopen are:
• The device address (^ 3-40)
• The definition of which user data are to be transmitted

User data
There are 3 distinctions made for the application of user data:
• Initialisation
– User data for establishing communication across the CAN-bus.
• Parameterization
– User data for the parameterization of the drive controller. For Lenze drive controllers, the
parameters are stored under the code positions or the variables.
• Process data
– User data intended for rapid, often cyclical, procedures (e.g. speed setpoint and actual
value)

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3.4.3.2 Addressing the drives

The CANbus system is oriented around messages, not participants. Each message has a unique
label, the identifier. With CANopen, participant orientation is achieved by having only one sender for
each message. The identifiers are derived from the addresses that are entered in the drive controller.
However, this does not apply for the identifier for the network management.
The identifiers are derived with this formula:
Identifier = base-identifier + adjustable address
Identifier Base-identifier Adjustable address
Network management 0
Sync-telegram 128
Parameter channel 1 to drive 1536 Address in C0350
Parameter channel 2 to drive 1600 Address in C0350
Parameter channel 1 from drive 1408 Address in C0350
Parameter channel 2 from drive 1472 Address in C0350
cyclical process-data channel to drive (CAN1_IN) 512 Address in C0350
cyclical process-data channel from drive (CAN1_OUT) 384 Address in C0350
event-controlled process-data channel to drive (CAN2_IN) 640 Address in C0350
event-controlled process-data channel from drive (CAN2_OUT) 641 Address in C0350
event-controlled process-data channel to drive (CAN3_IN) 768 Address in C0350
event-controlled process-data channel from drive (CAN3_OUT) 769 Address in C0350

Tab. 3-2 Identifier definition for addressing the drives

Selective identifier definition for process-data objects

You can give each process-data object (SB CAN1_IO, CAN2_IO, CAN3_IO) its own address.
To do this, C0353 is used to select whether the identifiers for the process data are derived from
C0350, or whether C0354 determines the individual identifier.
The following relationships apply:
C0353/x Meaning
C0353/1 = 0 (C0350) Addresses of CAN1_IN and CAN1_OUT are determined by C0350
C0353/1 = 1 (C0354) Address of CAN1_IN1 is determined by C0354/1
Address of CAN1_OUT is determined by C0354/2
C0353/2 = 0 (C0350) Addresses ofn CAN2_IN and CAN2_OUT are determined by C0350
C0353/2 = 1 (C0354) Address of CAN2_IN is determined by C0354/3
Address of CAN2_OUT is determined by C0354/4
C0353/3 = 0 (C0350) Addresses of CAN3_IN and CAN3_OUT are determined by C0350
C0353/3 = 1 (C0354) Address of CAN3_IN is determined by C0354/5
Address of CAN3_OUT is determined by C0354/6

Tab. 3-3 Selective identifier definition for process-data objects

Valid for all process-data input and output objects:

Identifier = 384 + value under C0354/x
x = subcode 1 ... 6, for assignment see Tab. 3-3

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3.4.4 The communication phases of the CAN network

11-bit Identifier 2-byte user data

Abb. 3-15 Telegram for changing over the communication phase

To be able to change over between the various communication phases, telegrams are used with an
Identifier 0 and 2 bytes of user data.
For communication purposes, the drive recognizes three states:
State Explanation
a State ”Initialisation”
The drive is not participating in the data traffic on the bus. This state is achieved after the drive controller is switched on. It is still
possible to repeat the whole or a part of the initialisation, by transmitting various telegrams. In this case, all the parameters that
have already been set will be overwritten by the default/standard values. After initialisation is completed, the drive goes automati-
cally into the ”Pre-Operational” state.
b State ”Pre-Operational”
The drive can receive parameterization data. The process data are ignored.
c State ”Operational”
The drive can receive parameterization and process data.

The changeover between the communication phases is controlled by one bus participant (the
network master) for the entire network.
This can also be carried out by a 93XX drive controller. To do this, set up this drive controller as the
master (C0352 = 1).
A telegram is transmitted once after switching on the power, after a delay. This sets the entire drive
group to the ”Operational” state.
The delay time can be set under C0356/1.

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When certain telegrams have to be transmitted, a change is made to a different state:

from after Data (hex) Remarks
Pre-Operational Operational 01xx Process and parameterization data are active
Operational Pre-Operational 80xx only parameterization data are active
Operational Initialisation 81xx resets the drive; all parameters are overwritten with the standard values
Pre-Operational Initialisation 81xx
Operational Initialisation 82xx resets the drive; only parameter relevant to communication are reset
Pre-Operational Initialisation 82xx

The following applies to the assignment of the bytes marked by ”xx” in the column:
• xx = 00hex
– With this assignment, the telegram applies to all connected devices. A change of state can
be made for all devices at the same time.
• xx = device address
– If a device address is given, then the change of state is only carried out for the device with
the corresponding address.

Tip!
Communication of the process data is only possible when the state is changed to Operational !

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3.4.5 Parameterization
Two separate software channels are available for parameterization, which are defined by the
controller address.
The structure of the telegram for parameterization is as follows:

11-bit identifier 8-byte user data

Command Index Index Sub-

Data 1 Data 2 Data 3 Data 4
Code Low-byte High-byte index

Abb. 3-16 Structure of the telegram for parameterization

Command code:
In the command code, the services must be entered, or services are entered such as transmitting or
writing a parameter, and how long these data are.
Structure of the command code:
Bit 7 (MSB) Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command Specifier (cs) 0 Length e s

cs Length e s
Write Request 0 0 1 0 x x 1 1
Write Response 0 1 1 0 x x 0 0
Read Request 0 1 0 0 x x 0 0
Read Response 0 1 0 0 x x 1 1
Error Response 1 0 0 0 0 0 0 0

The length of the user data for these services are coded in Bit 2 and Bit 3 as follows:
• 00 = 4-byte
• 01 = 3-byte
• 10 = 2-byte
• 11 = 1-byte
The most frequent parameters are data with 4 bytes (32-bit) and 2 bytes (16-bit) data length.
So the following values result in the command code for these parameters:
Services 4-byte (32-bit) data 2-byte (16-bit) data Meaning
hex dec hex dec
Write Request 23hex 35 2Bhex 43 Transmit parameter to drive
Write Response 60hex 96 60hex 64 Reponse of the drive controller to the write request (acknowledge-
ment)
Read Request 40hex 64 40hex 64 Request to read a parameter from the drive controller
Read Response 43hex 67 4Bhex 75 Response to the read request with the actual value
Error Response 80hex 128 80hex 128 The drive controller reports a communication error

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Index LOW-byte, Index HIGH-byte

The selection of the parameter or the selection of the Lenze code is made with these two bytes
according to the formula:
Index = 24575 - Lenze code number
Example:
The parameter C0012 (acceleration time) ist to be addressed:
24575 - 12 = 24563 = 5FF3hex
According to the left-aligned Intel data format, the entries are as follows (see “Description of a data
format”):
• Index LOW-byte = F3hex
• Index HIGH-byte = 5Fhex

Subindex
A subindex is a table position of a parameter under the index.
Example:
Terminal X5/A1, Subcode 1 unter dem Parameter C0117 soll angesprochen werden.
Index = 24575 - 117 = 24458 = 5F8Ahex (Index LOW-byte = 8A, Index HIGH-byte = 5F)
Subindex = 1
If a parameter is addressed, that does not have a subindex, then 0 must be entered here.

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Data 1 ... Data 4

The value to be transmitted, in up to 4 bytes.
The parameters for the 93XX series of controllers are stored in various formats. The most common
is the Fixed-32 format. This is a fixed-point format with 4 decimal places. Please note, that these
parameters must be multiplied by 10,000. The description and assignment of the individual formats
can be found in the code table.

Fault
Command code = 128 = 80hex
If a fault occurs, an error-response is generated by the drive. In this case, the user-data section of
the transmission always has a 6 in Data 4 and an error code in Data 3.
Possible error-codes:
Command code: Data 3 Data 4 Meaning
80hex 6 6 wrong index
80hex 5 6 wrong subindex
80hex 3 6 Access denied

Example: Description of a data format

The user-data are presented in the Intel format, left-aligned.
An example of a telegram clarifies the left-aligned Intel data format:
For code C0012, a value of 20 sec is to be transmitted.
Index = 24575 - Lenze code = 24575 - 12 = 24563 = 5FF3hex
Value (Data 1 ... Data 4) = 20 sec ⋅ 10.000 = 200.000 = 00 03 0D 40hex

Command Index Index Sub-

Identifier Code Data 1 Data 2 Data 3 Data 4
Low-byte High-byte index

F3 5F 40 0D 03 00

Index = 5F F3 Value = 00 03 0D 40

Abb. 3-17 Example of the description of a data format

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3.4.5.1 Example: Write a parameter

The acceleration time C0012 of the drive controller with the device address 1 is to be altered from
1 to 20 sec through parameter channel 1.

Calculation of identifier:
Identifier from parameter channel 1 to drive controller = 1536 + device address = 1536 + 1 = 1537
Command code = Write Request (transmit parameter to drive) = 23hex

Calculation of the index

Index = 24575 - code no. = 24575 - 12 = 24563 = 5FF3hex
Subindex for C0012 = 0

Calculation of the value for the acceleration time

20 sec ⋅ 10.000 = 200.000 = 00030D40hex
Telegram to drive:

Identifier Command Index Index Sub-

Code Low-byte High-byte index Data 1 Data 2 Data 3 Data 4

1537 23 F3 5F 00 40 0D 03 00

Abb. 3-18 Telegram to drive:

Response of the drive to correct implementation:

Command Index Index Sub-

Identifier Data 1 Data 2 Data 3 Data 4
Code Low-byte High-byte index

1409 60 F3 5F 00 00 00 00 00

Abb. 3-19 Response of the drive to correct implementation:

Identifier for parameter channel 1 from drive controller: 1408 + device address = 1409
Command code = Write Response (response of the drive controller (acknowledgement)) = 60hex

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3.4.5.2 Example: Read a parameter

The heatsink temperature (value 43°C) C0061 is to be read from the drive controller with the device
address 5 through parameter channel 1.

Calculation of identifier:
Identifier from parameter channel 1 to drive controller = 1536 + device address = 1536 + 5 = 1541
Command code = Read Request (request to read a parameter from the drive controller) = 40hex

Calculation of the index

Index = 24575 - code no. = 24575 - 61 = 24514 = 5FC2hex
Telegram to drive:

Identifier Command Index Index Sub-

Code Low-byte High-byte index Data 1 Data 2 Data 3 Data 4

1541 40 C2 5F 00 00 00 00 00

Abb. 3-20 Telegram to drive

Telegram from drive:

Identifier Command Index Index Sub-

Cyclical process-data telegram to the drive CAN1_IN

The process-data telegram to the drive has 8-byte user-data length. It is structured as follows:

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Identifier

Abb. 3-23 Cyclical process-data telegram to the drive

Assignment of the user data:

Byte Word assignment (16-bit) individual bit assignment double-word assignment (32-bit)
1 control word (LOW-byte)
2 control word (HIGH-byte)
3 CAN1_nInW1_a (LOW-Byte)
4 CAN1_nInW1_a (HIGH-Byte)
5 CAN1_nInW2_a (LOW-Byte) CAN1_bInB0_b 0 CAN1_bInB15_b CAN1_dnInD1_p
6 CAN1_nInW2_a (HIGH-Byte)
7 CAN1_nInW3_a (LOW-Byte) CAN1_bInB16_b 0 CAN1_bInB31_b
8 CAN1_nInW3_a (HIGH-Byte)

Bytes 5-6 and/or 7-8 can be simultaneously used as

• 32 individual binary/logic signals,
• 2 separate 16-bit values (”quasi-analog signal”),
• one double-word (32-bit)
^ 3-10, CAN1_IN)
(

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Cyclical process-data telegram from the drive CAN1_OUT

The structure of the process-data telegram from the drive is as follows:

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Identifier

Abb. 3-24 Cyclical process-data telegram from the drive

Assignment of the user data:

Byte word assignment (16-bit) individual bit assignment double-word assignment (32-bit)
1 Status-word (LOW-byte)
2 Status-word (HIGH-byte)
3 CAN1_nOutW1_a (LOW-Byte)
4 CAN1_nOutW1_a (HIGH-Byte)
5 CAN1_nOutW2_a (LOW-Byte) CAN1_bFDO0_b 0 CAN1_bFDO15_b CAN1_dnOutD1_p
6 CAN1_nOutW2_a (HIGH-byte)
7 CAN1_nOutW3_a (LOW-Byte) CAN1_bFDO16_b 0 CAN1_bFDO31_b
8 CAN1_nOutW3_a (HIGH-Byte)

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3.4.6.2 Event-controlled process-data objects, optionally with adjustable cycle

time
The event-controlled process-data must be linked to the individual system blocks, like the cyclical
process-data.
Here too, there are 8 bytes available for a data object.
A transmission of the output data follows:
• always, if a value has altered in the 8-byte user-data
• with the cycle time set under C0356/2 (CAN2_OUT) and 356/3 (CAN3_OUT)
You can set the appropriate monitoring times for the inputs under C0357/2 (CAN2_IN) and C0357/3
(CAN3_IN).

Event-controlled process-data telegram CAN1_IN to the drive

The process-data telegrams to the drive have a user-data length of 8 bytes, and the following
structure:

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Identifier

Abb. 3-25 Event-controlled process-data telegram to the drive

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Identifier

Abb. 3-28 Event-controlled process-data telegram from the drive

Assignment of the user data:

Byte word assignment (16-bit) individual bit assignment double-word assignment (32-bit)
1 CAN2_nOutW1_a (LOW-byte) CAN2_bFDO0_b 0 CAN2_bFDO15_b CAN2_dnOutD1_p
2 CAN2_nOutW1_a (HIGH-byte)
3 CAN2_nOutW2_a (LOW-byte) CAN2_bFDO16_b 0 CAN2_bFDO31_b
4 CAN2_nOutW2_a (HIGH-byte)
5 CAN2_nOutW3_a (LOW-byte)
6 CAN2_nOutW3_a (HIGH-byte)
7 CAN2_nOutW4_a (LOW-byte)
8 CAN2_nOutW4_a (HIGH-byte)

^ 3-16, CAN2_OUT)
(

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Event-controlled process-data telegram CAN3_OUT from the drive

The process-data telegrams from the drive have a user-data length of 8 bytes, and the following
structure:

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Identifier

Abb. 3-29 Event-controlled process-data telegram from the drive

Assignment of the user data:

Byte word assignment (16-bit) individual bit assignment double-word assignment (32-bit)
1 CAN3_nOutW1_a (LOW-byte) CAN3_bFDO0_b 0 CAN3_bFDO15_b CAN3_dnOutD1_p
2 CAN3_nOutW1_a (HIGH-byte)
3 CAN3_nOutW2_a (LOW-byte) CAN3_bFDO16_b 0 CAN3_bFDO31_b
4 CAN3_nOutW2_a (HIGH-byte)
5 CAN3_nOutW3_a (LOW-byte)
6 CAN3_nOutW3_a (HIGH-byte)
7 CAN3_nOutW4_a (LOW-byte)
8 CAN3_nOutW4_a (HIGH-byte)

^ 3-20, CAN3_OUT)
(

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Appendix

4 Appendix

4.1 PLC functionality

Field Numbe Description
r
Inputs digital 1 Input for controller enable 24V DC / 8mA per input
3 Free inputs (interruptable, response time 250µs)
2 Free inputs
analog 2 Free inputs (11 bit + sign) Ö10V
Outputs digital 4 Free outputs 24V DC / max. 50mA per output
analog 2 Free outputs (9 bit + sign) Ö10V / max. 2mA
Expandability of digital inputs/outputs Up to 8 system bus modules (9374) with 8 configurable inputs/outputs
Counter/times According to IEC1131-3, depending on the data memory available
Label 1000 label words
Fast counter 1 0...500 kHz
Program memory Approx. 600 kB for approx. 150k instructions
Data memory 16 kB
Processing time 0.7ms (per 1000 binary instructions)
Task 8 EVENT or INTERVAL tasks (1ms-16s)
1 Cyclic task
Functions • PID control functions
• Synchro system
• Positioning function
• Mains failure control
• Brake control
• Flow point arithmetik
Networking • INTERBUS
• PROFIBUS
• RS232/RS485
• System bus (CANopen)
Others in preparation
E2PROM buffered memory 8 kbyte, of which 52 byte in the remanent range

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4.2 System POUs

Abb. 4-1 System POUs and PLC_PRG

The PLC provides a number of system POUs.These POUs have defined features (see table) and are
called only once per polling.
POU name Program Feature POU starts, if ...
PLC_TaskOverrun Task overflow the task monitoring time is exceeded
PLC_RealError Floating point error a floating point error occurred
PLC_FailTripping TRIP a trip has been caused
PLC_WarningTripping WARNING a warning was output
PLC_MessageTripping MESSAGE a message was output
PLC_FailQspTripping *) FAIL- QSP a FAIL-QSP has been caused
max 1000 statements
max.
PLC_CANError CAN-BUS error a CAN bus error occurs, e.g. BUS-OFF, Cex warning
PLC_AIFError AIF-BUS error a AIF-Bus error has been caused
PLC_Restart Start after a STOP the START command has been activated
PLC_ColdStart Cold start after a RESET/program download the START command has
been activated.After the execution of these POU the CAN/AIF
bus is ready.
*) not available for Drive PLC

POUs are created, as for the cyclic task ”PLC_PRG”, by creating a PROGRAM-POE with the
symbolic POU name.
System POUs are supported as from hardware version 1.0.

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4.3 Monitoring

System interfaces
• System bus (CANopen) CAN
• Field buses
• Digital frequency,
analog and digital I/O Rectifier

Memory
(FLASH, EEPROM, RAM) Microcontroller
• PLC application program
to IEC 1131-3
(can be changed)
Inverter
Technology functions

• Operating system Digital

(cannot be changed) Signal
• Drive control Processor
• Communication Asynchronous motor
Standard motor
Synchronous motor
• Motor control with resolver / encoder

SIN/COS encoder

The Servo PLC 9300 includes two independent parts:

• Motor control and
• PLC.

Tip!
In general, faults do not affect the serviceability of the PLC!

Different monitoring functions of the motor control protect the drive from unpermissible operating
conditions.
After the monitoring function has been triggered
• the corresponding set reaction is released (see chapter 4.3.1).
• a digital output of a system block is set.
In the event of undervoltage at the PLC, for instance, the output MCTRL_bUndervoltage_b of
the system block MCTRL_MotorControl (internal motor control) is set to TRUE (see(^ 2-57)).
• the error code is entered in the history buffer.
• the current error number is displayed under DCTRL_wFaultNumber.
If a reaction on a motor control error is required, the error can be requested (see description of the
individual system blocks). The system blockDCTRL_DriveControl displays that an error has occured
and shows the current error code.

9300ServoPLC EN 1.4 4-3

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Appendix

4.3.1 Reactions
Depending on the interference, one or more of the following reactions of the monitoring function are
possible:
• TRIP (highest priority)
• Meldung
• FAIL-QSP
• Warning
• OFF = no reaction (lowest priority)

Tip!
For some of the faults you can determine the reaction of the drive (see chapter 4.3.2)

Reaction Effects on the drive and controller Danger notes Status messages at the operating
module
offs:oon:n
RDY IMP FAIL
TRIP • Switches one of the power outputs U, V, W to a high
resistance until the trip is reset.
• The drive is coasting (no control!). o n n
• After TRIP reset, the drive accelerates to its setpoint along
the setramps.
Meldung • Switches one of the power outputs U, V, W to a high
resistance as long as the message is active.
• Short The drive is coasting (no control!) as long as the
message message is active.
The drive restarts
≤ 0.5 s If the message is no longer valid, the drive
accelerates with maximum torque to its setpoint.
automatically if the o n n
fa lt is eliminated.
fault eliminated
• Long The drive is coasting (because of internal
message controller inhibit!) as long as the message is
> 0.5 s active.
Restart positioning program, if necessary.
FAIL-QSP Brakes the drive via the QSP ramp (code C0105) to standstill.
• The time for the QSP ramp is set in the dialog box ”Basic
- - -
settings”.
• Default setting of FAIL-QSP:
Warning • Fault display only
• The drive continues to operate in a controlled way. The drive may be n o n
destroyed because of
OFF • No reaction on interference! deactivated monitoring
Monitoring is deactivated. functions! - - -

4-4 9300ServoPLC EN 1.4

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Appendix

4.3.2 Possible settings for error messages

Overview of the fault sources detected by the controller, and the corresponding reactions
The current error number is also displayed in the PLC program in the
variableDCTRL_wFaultNumber.
Cause and remedy of a fault are described in Chapter 4.7, Troubleshooting and Fault elimination.
Fault message Possible settings / Reaction
Display Error Meaning TRIP Message Warning Fault/ Off Code
no. QSP
CCr 71 System error s - - - - -
CE0 61 Communication error (AIF) á - á - w C0126
CE1 62 Communication error at the process data input object á - á - w C0591
CAN1_IN (time monitoring can be set under C0357/1)
CE2 63 Communication error at the process data input object á - á - w C0592
CAN2_IN (timemonitoring can be set under C0357/2)
CE3 64 CE3 Communication error at the process data input object á - á - w C0593
CAN3_IN (timemonitoring can be set under C0357/3)
CE4 65 BUS-OFF state (many communication errors occurred) á - á - w C0595
CE5 66 CAN Time-Out á - á - w C0306
EEr 91 External monitoring s á á á á C0581
H05 105 Internal error s - - - - -
H07 107 Internal error s - - - - -
H10 110 Sensor fault: heat sink temperature s - - - á C0588
H11 111 Sensor fault: indoor temperature s - - - á
LU 30 Undervoltage - w - - - -
NMAX 200 Maximum speed exceeded (C0596) w - - - - -
OC1 11 Short circuit w - - - - -
OC2 12 Earth fault - w - - - - -
OC5 15 I x t overload w - - - - -
OH 50 Heat sink temperature 1 (max. permissible, fixed) w - - - - -
OH3 53 Motor temperature 1 (max. permissible, fixed) w - - - á C0583
OH4 54 Heat sink temperature 2 (adjustable; C0121) - - w - á C0582
OH7 57 Motor temperature 2 (can be set; code: C0121) - - w - á C0584
OH8 58 Motor temperature (fixed) via inputs T1/T2 á - á - - C0585
OU 20 Overvoltage in the DC bus - w - - - -
PEr 74 Program error w - - - - -
PI 79 Fault during initialization w - - - - -
PR0 75 General fault in parameter sets w - - - - -
PR1 72 Fault in parameter set 1 w - - - - -
PR6 80 Too many user codes displayed w - - - - -
Sd2 82 Resolver fault w - á - á C0586
Sd3 83 Encoder fault at X9 PIN 8 á - á - w C0587
Sd5 85 Encoder fault at X6/1 X6/2 (C0034 = 1) á - á - w C0598
Sd6 86 Sensor fault: motor temperature (X7 or X8) w - á - á C0594
Sd7 87 Fault in the absolute value encoder at X8 á - - - w C0025
overrun Task1 201 Time-out task with Id.2 (see task configuration) w - á á - 1)
overrun Task2 202 Time-out task with Id.3 (see task configuration) w - á á - 1)
overrun Task3 203 Time-out task with Id.4 (see task configuration) w - á á - 1)
overrun Task4 204 Time-out task with Id.5 (see task configuration) w - á á - 1)
overrun Task5 205 Time-out task with Id.6 (see task configuration) w - á á - 1)
overrun Task6 206 Time-out task with Id.7 (see task configuration) w - á á - 1)
overrun Task7 207 Time-out task with Id.8 (see task configuration) w - á á - 1)
overrun Task8 208 Time-out task with Id.9 (see task configuration) w - á á - 1)
float Sys-T 209 Floating point error (REAL) in the system task w - á á - 1)
float Cycl.-T 210 Floating point error (REAL) in the cyclic task w - á á - 1)

9300ServoPLC EN 1.4 4-5

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Appendix

Fault message Possible settings / Reaction

Display Error Meaning TRIP Message Warning Fault/ Off Code
no. QSP
float T Id2 211 Floating point error (REAL) in the task with Id2 w - á á - 1)
float T Id3 212 Floating point error (REAL) in task with Id.3 w - á á - 1)
float T Id4 213 Floating point error (REAL) in task with Id.4 w - á á - 1)
float T Id5 214 Floating point error (REAL) in task with Id.5 w - á á - 1)
float T Id6 215 Floating point error (REAL) in task with Id.6 w - á á - 1)
float T Id7 216 Floating point error (REAL) in task with Id.7 w - á á - 1)
float T Id8 217 Floating point error (REAL) in task with Id.8 w - á á - 1)
float T Id9 218 Floating point error (REAL) in task with Id.9 w - á á - 1)
NoT-FktCredit 220 Insufficient units on the target system w - - - - -

w Default setting 1)
á possible Adjustable in the DDS under ”Project” + ”Exception handling”
- not possible

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Appendix

4.4 Tripping (L_FWM)

Tip!
This function block is described in the function library LenzeDrive.lib.

This FB is used to transmit error messages to the PLC.This means that TRIP, Fail-QSP, message or
warning can be activated in the PLC while the PLC program is running. The transmitted error number
is stored in the history buffer of the PLC (C0168/x).

4.5 Troubleshooting
• You can recognize immediately whether a fault has occurred from the display elements or
status information. ^ 4-7, chapter “Troubleshooting”)
(

• You can analyze the fault

– by means of the history buffer (^ 4-9)
– and by means of the list “Fault indications”. ^ 4-11)
(

• The list “Fault indications” indicates how to eliminate faults. ^ 4-11)

(

Display on the controller

Two LEDs on the front of the controller indicate the controller status.
LED green LED red Cause Check
3 P Controller enabled; no fault
★ P Controller inhibit, switch-on inhibit C0183; or C0168/1
P ★ Fail C0168/1
3 ★ Warning, fail-QSP C0168/1

3 : on P : off ★ : blinking

Display in Global-Drive-Control
Double-click ”Dialog Diagnostic” in the parameter menu of the GDC to open the dialog box
Diagnostic 9300 .
• The dialog box Diagnostic 9300 informs about the controller status:

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Appendix

Display on the keypad

Status messages in the display indicate the controller status.
Display Controller status Check
RDY Controller ready for operation, controller can be inhibited C0183, C0168/1
IMP Pulses at the power stage inhibited C0183, C0168/1
Imax Max. current reached
Mmax Max. torque reached
Fail Fault through TRIP, message, fail QSP or warning C0183, C0168/1

Display via the LECOM status word C0150

Bit Meaning
0 FREE 0 freely combinable
1 IMP (pulse inhibit)
0 = Pulses enabled for power stage
1 = Pulses inhibited for power stage
2 FREE 2 freely combinable
3 FREE 3 freely combinable
4 FREE 4 freely combinable
5 FREE 5 freely combinable
6 fd = 0 (actual speed value = 0) 0 = [n ≠ 0]
1 = [n = 0]
7 RSP (controller inhibit) 0 = No controller inhibit
1 = Controller inhibit
hex bin
0 0000 Unit initialisation
1 0001 Switch-on inhibit
3 0011 Operation inhibited (controller inhibit)
8-11 Controller status 6 0110 Operation enabled
7 0111 Message active
8 1000 Active fault
9 1001 Power off
A 1010 Fail-QSP
12 Warning 0 = No warning
1 = Warning
13 Meldung 0 = No message
1 = Message
14 FREE 14 freely combinable
15 FREE 15 freely combinable

4-8 9300ServoPLC EN 1.4

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Appendix

4.6 Fault analysis with the history buffer

• The history buffer is used to trace faults.
• Fault messages are stored in the order of their occurrence.
Double click ”Dialog Diagnostic” in the parameter menu of the GDC to open the dialog box
Diagnostic 9300 :

History buffer

4.6.1 Structure of the history buffer

• The history buffer has 8 memory units. The fields under ”fault history” show the memory units
2 to 7.
• The fields under ”Actual fault” show memory unit 1. It contains information on the active fault.
– The first memory unit is written only after the elimination or acknowledgement of the active
fault. This entry eliminates the last fault from the history buffer so that it can no longer be
read.
• The history buffer contains three information items for every fault occurred:

Fault recognition and reaction

ó Time of the fault
ó ì ì Frequency of the fault

The following table shows the assignment of information to the codes.

Code and information to be called Memory unit
C0168 C0169 C0170 Subcode
1 Active fault
2 Memory unit 1
3 Memory unit 2
Frequency of the immediately 4 Memory unit 3
Fa lt recognition and reaction
Fault Time of the last occurrence
occ rrence
following occurrence 5 Memory unit 4
6 Memory unit 5
7 Memory unit 6
8 Memory unit 7

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Appendix

4.6.2 Working with the history buffer

ó ì

ú
ö

Fault recognition and reaction

• Contains the fault recognition for every memory unit and the reaction to the fault.
– e. g. ”OH3 TRIP”
– For a fieldbus, the fault indications are always represented by a fault number.
^ 4-11, column 2)
(

Please note:
• For faults occurring at the same time with different reactions:
– Only the reaction with the highest priority is entered in the history buffer
(Priority = TRIP " Message " FAIL-QSP " Warning).
• For faults occurring at the same time with the same reaction (e. g. 2 messages):
– Only the fault which occurred first is entered in the history buffer.

Time ó
• Contains the times when the faults occurred.
– e.g. ”1234567 s”
– Reference time is the mains switch-on time (see dialog box Diagnostic 9300 , field top right)
Please note:
• If a fault is immediately followed by another fault for several times, only the time of the last
occurrence is stored.

Frequency ì
• Contains the frequency of a fault immediately followed by the same fault. The time of the last
occurrence is stored.

Reset fault ö
• Click the TRIP reset button to reset the fault.

Clear history buffer ú

• This function is only possible when no fault is active.
• Click the Fault history reset button to clear the history buffer.

4-10 9300ServoPLC EN 1.4

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Appendix

4.7 Error messages

Tip!
If the error message is requested by a fieldbus, the fault indication is represented by a fault number
(C0168/x). See column 2and the footnote at the end of this table.

81 (see task configuration)
7$6.

OTF5 5 q204 Time-out task with Id.5 • Set task runtime

81 (see task configuration) • Modify monitoring time, if necessary
7$6. Task processing takes longer than the monitoring • Determine the cause of time
time-out
out by checking the
OTF5 5 q205 Time-out task with Id.6 time set task runtimes at the task monitor.
81 (see task configuration) • Swap out time-critical program parts in a slower
7$6.
task
OTF5 5 q206 Time-out task with Id.7
81 (see task configuration)
7$6.

OTF5 5 q207 Time-out task with Id.8

81 (see task configuration)
7$6.

OTF5 5 q208 Time-out task with Id.9

81 (see task configuration)
7$6.

)/2$7 q209 Floating point error (REAL) Error in the real calculation
6<6 7 in the system task The fault is eliminated as in a task overflow.
The task in which the error occurred was incorrectly NOTE: Please check your
yo r real calc
calculation
lation before
)/2$7 q210 Floating point error (REAL) calculated. acknowledging the trip.
&<&/ 7 in the system task A real error can occur when dividing by 0.
)/2$7 q211 Floating point error (REAL)
7$6. in the task with Id2
)/2$7 q212 Floating point error (REAL)
7$6. in task with Id.3
)/2$7 q213 Floating point error (REAL)
7$6. in task with Id.4
)/2$7 q214 Floating point error (REAL)
7$6. in task with Id.5
Division by 0 Browse program code
)/2$7 q215 Floating point error (REAL)
7$6. in task with Id.6
)/2$7 q216 Floating point error (REAL)
7$6. in task with Id.7
)/2$7 q217 Floating point error (REAL)
7$6. in task with Id.8
)/2$7 q218 Floating point error (REAL)
7$6. in task with Id.9
1O7 ). q220 Insufficient units on the The system attempts to load a program with
7 &5(', target system technology functions on a Servo PLC with insufficient Extend the instance of your Servo PLC
7 units.

1) Temperature detection via resolver or incremental encoder.

9300ServoPLC EN 1.4 4-13

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Appendix

4.8 Reset of fault messages

Reaction on Measures for re-commissioning Danger notes
operating errors
TRIP/ FAIL-QSP • After the error has been eliminated, the drive can be restarted when an
acknowledgement has been sent.
• TRIP / FAIL-QSP acknowledgement by:
– Global-Drive-Control: Click ”Trip reset” in dialog box ”Diagnostics

^
9300”.
4-10, (“Working with the history buffer”)
If a TRIP source is still active, TRIP cannot be
– Keypad 9371 BB:
reset.
Press STOP key. Then press RUN to enable the controller again.
– Fieldbus module: Set C0043 = 0
– Control word C0135
– Terminal X5/E5 (default setting) or “DCTRL-TRIP-RESET”
– Control word AIF
– Control word system bus (CAN)
Message • After eliminating the fault, the message is reset automatically.
The drive restarts automatically if the fault is
eliminated.

Warning • After eliminating the fault, the warning is reset automatically.

4-14 9300ServoPLC EN 1.4

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Appendix

4.9 Code table

C0093 Drive ident g 0

1
invalid
none
• alteration sets C0086 = 0
Controller identification

93xx 93xx
C0094 Password 0 0 9999 Password
• Parameter-access protection for the
operating module. When the
password is activated, only
user-menu codes can be accessed.
For further selection options, see
C0096.

4-22 9300ServoPLC EN 1.4

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Appendix

Code LCD Possible settings IMPORTANT

Lenze Choice
[C0095] Rotor pos adj 0 0 inactive Rotor position adjustment of a
1 active synchronous motor
• C0058 displays the zero angle of
the rotor
• C0095 = 1 starts position
adjustment
[C0096] Extended password protection for bus
1 AIF protect. 0 0 no password protection systems when password is activated
2 CAN protect. 0 1 Read protection (C0094).
2 Write protection • All codes in the user menu can be

g 3 Read/write protection accessed.

C0099 S/W version x.xx Software version
C0105 QSP Tif 0.000 0.000 {0.001 sec} 999.900 Deceleration time for quick stop (QSP) ^ 2-48
• Ref. to speed change 00 nMax.
C0108 -199.99 {0.01 %} 199.99 For relative analog signals ^ 2-45
1 FCODE_nC108_1_a 100.00
2 FCODE_nC108_2_a 100.00
C0109 -199.99 {0.01 %} 199.99 For relative analog signals ^ 2-45
1 FCODE_nC109_1_a 0.00
2 FCODE_nC109_2_a 0.00
C0114 Terminal polarity ^ 2-43
1 DIGIN pol 1 0 HIGH active X5/E1
2 DIGIN pol 1 1 LOW active X5/E2
3 DIGIN pol 0 X5/E3
4 DIGIN pol 0 X5/E4
5 DIGIN pol 0 X5/E5
C0118 Terminal polarity ^ 2-44
1 DIGOUT pol 0 0 High active X5/A1
2 DIGOUT pol 0 1 Low active X5/A2
3 DIGOUT pol 0 X5/A3
4 DIGOUT pol 0 X5/A4
C0121 OH7 limit 150 45 {1 °C} 150 Temperature threshold warning: motor ^ 2-48
temperature “TMot> C0121”
(error OH7)
C0122 OH4 limit 85 45 {1 °C} 85 Temperature threshold warning:
heatsink temperature “Tht> C0122”
(error OH4)
C0125 Baud rate 0 0 9600 baud LECOM baud rate for 2102 module
1 4800 baud
2 2400 baud
3 1200 baud
4 19200 baud
C0126 MONIT CE0 3 0 Trip Configuration monitoring:
2 Warning communication error with automation
3 Off interface ”CommErr“(CE0)
C0135 Control word 0 {1} 65535 Decimal status word when networked ^ 2-25
with automation interfaces
• Device evaluates information16 bit,
binary coded
C0136 0 {1} 65535 Control word in
1 CTRLWORD DCTRL ^ 2-25
2 CTRLWORD CAN1-IN ^ 3-10
3 CTRLWORD AIF1_IN ^ 2-4
C0141 FCODE_nC141_a 0.00 -199.99 {0.01 %} 199.99 For relative analog signals ^ 2-45

9300ServoPLC EN 1.4 4-23

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Appendix

Code LCD Possible settings IMPORTANT

Lenze Choice
C0142 Start options 1 Start options ^ 2-25
are executed:
• After power-on
• after message (t > 0.5 sec)
• after trip
1 0 Start lock 0 = Start protection

C0150 Status word g 1

0
Auto start
{1}
1 = automatic start
65535 Hexadecimal control word when ^ 2-25
[C0151]
1 CAN1_bFDO0...31_b
g 0
networked with automation interfaces
FFFF • hexadecimal display value
• Hexadecimal signal assignment of ^ 3-10
2 CAN2_bFDO0...31_b the free digital outputs.
3 CAN3_bFDO0...31_b • Binary interpretation indicates the
4 AIF1_bFDO0...31_b bit states ^ 2-4
C0155 Status word 2 0 {1} 65535 Status word 2 ^ 2-25
Extended decimal status word
• Binary interpretation indicates the

C0157
1 DCTRL_bStateB0_b
g 0
bit states
1 Status of the free bits of the status
word
^ 2-25
2 DCTRL_bStateB2_b
3 DCTRL_bStateB3_b
4 DCTRL_bStateB4_b
5 DCTRL_bStateB5_b
6 DCTRL_bStateB14_b
7 DCTRL_bStateB15_b
C0161 Act trip
C0167 Reset failmem
g
0
All error messages
0 No reset
Latest error message (as in C0168/1)

C0168
1 Fail no. act
g 1 Reset
(History buffer)
clears the history buffer
All occuring faults
now active
2 Fail no. old1 latest
3 Fail no. old2 last but one
4 Fail no. old3 last but two
5 Fail no. old4 last but three
6 Fail no. old5 last but four
7 Fail no. old6 last but five

C0169
8 Fail no. old7
g (History buffer)
last but six
Sequence of the faults saved under
C0168
• referred to C0179
1 Failtime act now active
2 Failtime old1 latest
3 Failtime old2 last but one
4 Failtime old3 last but two
5 Failtime old4 last but three
6 Failtime old5 last but four
7 Failtime old6 last but five
8 Failtime old7 last but six

4-24 9300ServoPLC EN 1.4

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Appendix

Code LCD Possible settings IMPORTANT

C0170 g
Lenze Choice
corresponding power switch-on time error frequency
History buffer
• List of how often the faults have
occurred consecutively under C0168
1 Counter act now active
2 Counter old1 latest
3 Counter old2 last but one
4 Counter old3 last but two
5 Counter old4 last but three
6 Counter old5 last but four
7 Counter old6 last but five
8 Counter old7 last but six
[C0172] OV reduce 10 0 {10 V} 100 Threshold to activate the brake torque
reduction before OU fault
[C0173] UG limit 1 Adaptation of DC-bus voltage ^ 2-48
thresholds
0 Mains< 400V+ -B Operation on mains < 400 V with or
without brake unit
1 Mains= 400V+ -B Operation on 400 V mains with or
without brake unit
2 Mains= 460V+ -B Operation on 460 V mains with or
without brake unit
3 Mains= 480V-B Operation on 480 V mains without
brake unit
4 Mains= 480V+ B Operation on 480 V mains with brake
unit
• check during commissioning, and
adapt if necessary
• All drive components in DC-bus

C0178 Op timer g 0 {1 sec}

links must have the same thresholds
4294967295 Elapsed operating time meter

C0179 Mains timer g 0 {1 sec}

• Enablling time of the controller
4294967295 Mains switch-on time meter
• Mains switch-on time

9300ServoPLC EN 1.4 4-25

Code LCD Possible settings IMPORTANT

C0362 Sync cycle g

Lenze Choice
0 {1 msec} 30 Time between two sync telegrams on
the system bus
^ 3-32
^
C0363 Sync corr
C0365 CAN active
C0366 Sync Response
g
1

1
1
0
0 no sync response
{1} 5 Sync correction
1 Input signal CAN active
CAN Sync Response
^ 3-32
^ 3-32
1 sync response
C0367 Sync Rx ID 128 1 {1} 256 CAN Sync Rx ID ^ 3-32
C0368 Sync Tx ID 128 1 {1} 256 CAN Sync Tx ID ^ 3-32
^ 3-32
C0369 Sync Tx Time
C0400 AIN1_aIn_a
C0405 AIN2_aIn_a
gg
0 0
-199.99
-199.99
{1 msec}
{0,01 %}
{1 %}
65000 CAN Sync Tx Time
199.99 Output of AIN1
199.99 Output of AIN2
^ 2-21
^ 2-21
[C0416] Resolver adj 0 0 {1} 99999999 Correction of the resolver error
With Lenze motors:
• Read resolver error from the
nameplate
[C0420] Encoder const 512 256 {1 inc/rev} 8192 Encoder constant for encoder input X8 ^ 2-48
in increments per revolution
[C0421] Encoder volt 5.00 5.00 {0.1V} 8.00 Set supply voltage for the encoder used ^ 2-48
• WARNING: incorrect input may
destroy the encoder
C0425 DFIN const 3 0 256 inc/rev Constant for digital frequency input in ^ 2-31
1 512 inc/rev increments per revolution
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev

C0426 OUT g 6
-32767
16384 inc/rev
{1 rpm} 32767 Output signal ^ 2-31
C0427 Function 0 Type of the digital frequency signal ^ 2-31
0 2-phase 0 = Quadrature
1 A puls / B dir 1 = Pulse / Direction
2 Pulse A or B 2 = Pulse A / Pulse B
C0428 TP select 0 0 Touch-Probe through zero-pulse (only with Touch probe selection ^ 2-31
encoder)
1 Touch-Probe through digital input X5/E5
C0429 TP-Delay 0 -32767 {1 inc} 32767 Delay for Touch-Probe ^ 2-31
C0431 TP edge 0 0 Activation with positive signal Setting of the touch probe activation ^ 2-31
C0434 AOUT1_nOut_a gg 1
-199.99
Activation with negative signal
{0.01 %}
with digital input X5/E4 (C0428 = 1)
199.99 Input signals of AOUT1 ^ 2-21
^ 2-21
C0439 AOUT2_nOut_a
C0441 STATE_BUS_bOut_b
C0443 DIGIN_bInx_b
gg -199.99

0
{0.01 %}

{1}
199.99 Input signals of AOUT2
Monitoring signal
255 Signals at X5/E1 to X5/E5
^ 2-65
^ 2-43
decimal value
• Binary interpretation indicates

C0444
1 DIGOUT_bOut1_b
g 0
terminal signals
1 Signals at X5/A1 to X5/A4 ^ 2-44
2 DIGOUT_bOut2_b
3 DIGOUT_bOut3_b
4 DIGOUT_bOut4_b
[C0469] Fct STP key Function of the STOP key of the
operating module
• Function is activated when pressing
the STOP key.

4-28 9300ServoPLC EN 1.4

Appendix

Code LCD Possible settings IMPORTANT

C0906
1 MCTRL_nNSet_a
g
Lenze Choice
-199.99 {0.01 %} 199.99 Analog input signals ^ 2-48
2 MCTRL_nNAdd_a
3 MCTRL_nLoMLim_a
4 MCTRL_nHiMLim_a
5 MCTRL_nPosLim_a
6 MCTRL_nNStartMLim_a
7 MCTRL_nFldWeak_a
8
C0907
1
MCTRL_nISet_a

MCTRL_bPosOn_b
g Digital input signals ^ 2-48
2 MCTRL_bNMSwt_b
3 MCTRL_bQspOut_b
4 MCTRL_bILoad_b
C0908 MCTRL_dnPosSet_p g -2147483647 {1 inc} 2147483647 Set phase-angle signal
• 1 turn = 65536 inc
^ 2-48
C0909 speed limit 1 1 + /- 175 % Limitation of direction of rotation for ^ 2-48
2 0 .. + 175 % the speed setpoint
3 -175 .. 0 %
C0910 TP-Delay 0 -32767 {1 inc} 32767 Delay for Touch-Probe ^ 2-48
C0911 TP select 0 0 Touch probe via zero pulse Touch probe selection ^ 2-48
1 Touch-Probe through digital input X5/E4
C0912 TP edge 0 0 Activation with positive signal Setting of the touch probe activation ^ 2-48
1 Activation with negative signal with digital input X5/E4 (C0911 = 1)
C1120 Sync mode off 0 off ^
1 CAN Sync
2 Terminal Sync
C1121 Sync cycle 2 1 {1 msec} 13 ^
C1122 Sync phase 0.000 0.000 {0.001 ms} 6.500 ^
C1123 Sync-Window 0.000 0.000 {0.001 ms} 6.500 ^
C1190 Mot. PTC-Sel. 0 0 standard PTC selection for motor
1 Characterist.
C1191 0 {1 °C} 255 Selection of PTC temperature
1 Char.: temp 1 100 characteristic
2 Char.: temp 2 150
C1192 0 {1 W} 30000 Selection of PTC temperature
1 Char.: OHM 1 1670 characteristic
2 Char.: OHM 2 2225
C1799 DFOUT fmax 1250 20 {1 kHz} 1250 Maximum output frequency in kHz at ^ 2-38
C1810 S/W Id Keypad
C1811 S/W date Keyp
gg X10
^
^
C2100 Time slice 13 6 {0.1 ms} 26 ^
C2102 Task switch 2 0 Change-over only after the time disk has elapsed ^
1 Change-over end of cycl. task
2 Change-over end of cyclic task and end of sys.
task
C2104 PLC Autorun 0 0 does not start Automatic start of the PLC program
1 starts after power switch-on
C2106 Downl. protect 0 0 new download not possible write protection for the PLC program
1 new download possible
C2107 PwDownlProt. 0 0 {1} 4294967295 ^
C2108 PLC run/stop 1 0 no function PLC program will be ...
1 run 1: started
` stop 2: stopped (with simultaneous
3 reset setting of quick stop {QSP})
3: reset

9300ServoPLC EN 1.4 4-33

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9300 Servo PLC

Appendix

Code LCD Possible settings IMPORTANT

C2111 GDC Id g
Lenze Choice
Compiling time / date of the PLC

C2113 PLC ProgName gg application program

Name of the PLC program
^
C2115 T-Fkt Credit
C2117 Full Credit
C2118 ParWriteChan. 0
g 0 PDO
^
^
1 SDO 2
C2120 AIF: Control 0 0 no command ^
1 XCAN reinitialization
2 Read XCAN codes
10 Read C2356/1-4
11 Read C2357
12 Read C2375
13 Read C2376 - C2378
14 Read C2382

C2121
C2350 XCAN Address
g
1
15

1
not assigned

{1}
AIF-Status
63 XCAN node address
^
^
C2351 XCAN baudrate 500 0 500 kBit/s XCAN baud rate ^
1 250 kBit/s
2 125 kBit/s
3 50 kBit/s
4 1000 kBit/s
C2352 CAN mst. 0 0 slave XCAN master operation ^
1 Master
C2353 CAN address sel1 0 CAN-Open, Node ID: DIP switch/C2350 ^
1 0 1 LENZE, selective addr. C2354 1: XCAN IN1/OUT1 addr.
2 0 2 LENZE, Node ID: DIP switch/C2350 2: XCAN IN2/OUT2 addr.
3 0 3: XCAN IN3/OUT3 addr.
C2354 XCAN sel. addr 1 {1} 513 ^
1 129 1: XCAN IN 1 selective addr.
2 1 2: XCAN OUT 1 selective addr.
3 257 3: XCAN IN 2 selective addr.
4 258 4: XCAN OUT 2 selective addr.
5 385 5: XCAN IN 3 selective addr.
6
C2355 XCAN Id
1
g
386 6: XCAN OUT 3 selective addr.

1: XCAN IN 1 Idenifier
^
.. 2: XCAN OUT 1 Identifier
6 3: XCAN IN 2 Identifier
4: XCAN OUT 2 Identifier
5: XCAN IN 3 Identifier
6: XCAN OUT 3 Identifier
C2356 CAN boot up 0 [1 ms} 65535 ^
1 300 1 XCAN Boot Up
2 0 2 XCAN Out1 cycle
3 0 3 XCAN Out2 cycle
4 0 4 XCAN Out3 cycle
5 3000 5 XCAN Cync Tx cycle
C2357 CE1 monit time 0 [1 ms} 65535 ^
1 3000 1 XCAN CE11 monitoring
2 3000 time
3 3000 2 XCAN CE12 monitoring
4 1 time
3 XCAN CE13 monitoring
time
4 XCAN CE14 monitoring

C2359 AIF HW set

C2367 Sync Rx-Id
g
128 0 [1 ms} 2047
time
^
^

4-34 9300ServoPLC EN 1.4

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9300 Servo PLC

Appendix

Code LCD Possible settings IMPORTANT

Lenze Choice
C2368 Sync Tx-Id 128 0 [1 ms} 2047 ^
C2373 Sync Rate IN 1 1 {1} 240 ^
1
2
3
C2374 Sync Rate OUT 1 1 {1} 240 ^
1
2
3
C2375 XCAN Tx.Mode 0 0 Response to SYNC. ^
1 1 No response to SYNC
2 2 Action / cycle C2356
3 3 Action / cycle C2356 superimposed
C2376 XCAN1 Mask 65535 0 {1} 65535 ^
1
2
3
4
C2377 XCAN2 Mask 65535 0 {1} 65535 ^
1
2
3
4
C2378 XCAN3 Mask 65535 0 {1} 65535 ^
1
2
3
4
C2382 XCAN Conf. CE 65535 0 Off ^
1 1 Controller inhibit 1: XCAN configuration CE11
2 2 Quick stop 2: XCAN configuration CE12
3 3: XCAN configuration CE13
4 4: XCAN configuration CE14
5 5: XCAN configuration Life Guarding E.

9300ServoPLC EN 1.4 4-35

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9300 Servo PLC

Appendix

4.10 Index
A CANopen
Adressing the drives , 3-40
absolute addresses, 2-2 Communication profile of the system bus , 3-39
Data description , 3-39
Additional torque setpoint, 2-51 Identifier, 3-39
Addresses, absolute , 2-2 Selective identifier definition, 3-40
User data , 3-39
Analog inputs
Chopping frequency changeover , 2-55
Inputs_ANALOG1 (AIN1), 2-21
Inputs_ANALOG2 (AIN2), 2-23 Code number, Index, 3-31

Appendix, 4-1 Code table, 4-15

Codes
Automation interface
CAN-bus, 3-32
Inputs_AIF1 (AIF1_IN), 2-4
CAN-bus: Diagnosis, 3-36
Inputs_AIF2 (AIF2_IN), 2-10
Index, 3-31
Inputs_AIF3 (AIF3_IN), 2-15
Comments on wiring, Function module LECOM-B (RS485),
Management, 2-20
3-3
Outputs_AIF1 (AIF1_OUT), 2-7
Outputs_AIF2 (AIF2_OUT), 2-12 Communication profile DS 301, 3-39
Outputs_AIF3 (AIF3_OUT), 2-17 Control terminals, Assignment
X6/1, 2, 2-21
Automation interface (AIF1_IO_AutomationInterface), 2-4
X6/3, 4, 2-23
Automation interface (AIF2_IO_AutomationInterface), 2-10 X6/62, 2-22
X6/63, 2-24
Automation interface (AIF3_IO_AutomationInterface), 2-15
Controllerinhibit (CINH), 2-28
Current controller, 2-50
C Internalmotor control (MCTRL), 2-48

CAN network, Communication phases, 3-41 Cyclical process-data objects, 3-49

CAN-bus
Baud-rate setting , 3-32 D
Boot-Up setting , 3-35 Data-type entry, Explanation of, 1-4
Bus load, 3-37
Definitions, 1-2
Bus Off, 3-38
Bus status, 3-36 Diagnosis codes , for CAN-bus, 3-36
Codes (description), 3-32 Digital frequency input (DF_IN), 2-31
Defining a master in a drive group , 3-32 Technical data for connection, 2-35
General address assignment , 3-33 Touch-probe, 2-36
Identifier, 3-35
Digital frequency output (DF_OUT), 2-38
Monitoring, 3-38
Technical data for connection, 2-42
Monitoring times , 3-38
Parameterization, 3-43 Drive control (DCTRL_DriveControl), 2-25
Example of a data format, 3-45
Index LOW/HIGH-byte, 3-44 DS 301, 3-39
Read a parameter (example), 3-47
Reset-Node, 3-38 E
selective addressing, 3-34
Telegram counter, 3-36 EarthFault, 2-59
Write a parameter (example), 3-46 Error messages, 4-11
CAN_Management, 3-22 Event-controlled process-data objects, 3-52

4-36 9300ServoPLC EN 1.4

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9300 Servo PLC

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9300 Servo PLC

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. 2000 Lenze GmbH & Co KG

9300 Servo PLC

1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 System blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

9300 Servo PLC

2.9 Digital master frequency input (DF_IN_DigitalFrequency) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31

9300 Servo PLC

 9300ServoPLC EN 1.4 iii

9300 Servo PLC

9300 Servo PLC

1 Preface and general information

1.1 About this Manual

1.1.1 Conventions in this manual

1.1.2 Pictograms in this manual

 9300ServoPLC EN 1.4 1-1

9300 Servo PLC

1.1.3 Terminology used

1.1.4 What’s new?

1-2 9300ServoPLC EN 1.4 

9300 Servo PLC

1.2 Lenze software guidelines for variable names

1.2.1 Hungarian Notation

 9300ServoPLC EN 1.4 1-3

9300 Servo PLC

Examples of the data-type entry

Examples of a data-type Meaning

Identifier (the proper variable name)

1.2.1.1 Recommendation for designating variable types

1-4 9300ServoPLC EN 1.4 

9300 Servo PLC

1.2.1.2 Designation of the signal type in the variable name

Variable name Signal type Variable type

1.2.1.3 Special handling of system variables

 9300ServoPLC EN 1.4 1-5

9300 Servo PLC

1-6 9300ServoPLC EN 1.4 

9300 Servo PLC

System blocks - principle:

Abb. 2-1 Principle of a PLC system (x = expansion cards)

 9300ServoPLC EN 1.4 2-1

9300 Servo PLC

2.1.1 Access through absolute addresses

Example: system block DIGITAL_IO (DIGIN):

2.1.2 Module numbers

Module number System block

The module number is a part of the absolute address of an SB.

2-2 9300ServoPLC EN 1.4 

9300 Servo PLC

2.1.3 Definition of the system-block inputs/outputs

Abb. 2-2 Connecting system blocks to a program-organisation element (schematic)

POE Program-organisation element

Example: system block DIGITAL_IO (DIGIN):

Abb. 2-3 Connecting the system block DIGITAL_IO to a POE

 9300ServoPLC EN 1.4 2-3

9300 Servo PLC

2.2 Automation interface (AIF1_IO_AutomationInterface)

2.2.1 Inputs_AIF1 (AIF1_IN)

Automation interface (module number 41)

Abb. 2-4 Inputs_AIF1 (AIF1_IN)

2-4 9300ServoPLC EN 1.4 

9300 Servo PLC

VariableName DataType SignalType Address DIS DIS format Note

 9300ServoPLC EN 1.4 2-5

9300 Servo PLC

VariableName DataType SignalType Address DIS DIS format Note

Bytes 5-6 and bytes 7-8

Address range from byte 1 - 7

2-6 9300ServoPLC EN 1.4 

9300 Servo PLC

2.2.2 Outputs_AIF1 (AIF1_OUT)

Automation interface (module number 41)

Abb. 2-5 Outputs_AIF1 (AIF1_OUT)

 9300ServoPLC EN 1.4 2-7

9300 Servo PLC

VariableName DataType SignalType Address DIS DIS format Note

9300ServoPLC EN 1.4 iii

9300ServoPLC EN 1.4 1-1

1-2 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 1-3

1-4 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 1-5

1-6 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-1

2-2 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-3

2-4 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-5

2-6 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-7

2-8 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-9

2-10 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-11

2-12 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-13

2-14 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-15

2-16 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-17

2-18 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-19

2-20 9300ServoPLC EN 1.4

9300ServoPLC EN 1.4 2-21