L-force Funktionsbibliothek

Software Manual 

L-force 9400 Servo Drives 

Function libraries 

� LenzeDataConversion 

� LenzeDevice9400 

� LenzeLineDrive 

� LenzePositioning 

� LenzeServoDrive 

� LenzeToolbox 

L

Copyright 

© 2006 Lenze Drive Systems GmbH. All rights reserved. 

Imprint 

Lenze Drive Systems GmbH 

Postfach 10 13 52, 31763 Hameln, Germany 

Phone: ++49 (0)5154 / 82-0 

Fax: ++49 (0)5154 / 82-2111 

E-Mail: Lenze@Lenze.de 

Copyright information 

All texts, photos and graphics contained in this documentation are subject to 

copyright protection. No part of this documentation may be copied or made 

available to third parties without the explicit written approval of Lenze Drive 

Systems GmbH. 

Liability 

All information given in this documentation has been carefully selected and 

tested for compliance with the hardware and software described. 

Nevertheless, discrepancies cannot be ruled out. We do not accept any 

responsibility or liability for any damage that may occur. Required correction 

will be included in updates of this documentation. 

2 1.4 EN - 08/2006 - TD05/TD14 L

Contents 

L-force | 9400 function library 

Contents 

1 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 

1.1 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 

1.2 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 

2 General information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 

2.1 What is a function block? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 

2.2 Parameterisable function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 

2.3 Conventions used for input/output identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 

2.4 Signal types & scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 

3 Short overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 

3.1 Analog signal processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 

3.2 Digital signal processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 

3.3 Data type conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 

3.4 Mathematical functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 

3.5 Conversion of physical units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 

3.6 Speed conditioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 

3.7 Special functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 

3.8 Output of status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 

3.9 FBs for system via electrical shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 

3.10 FBs for positioning tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 

3.11 All function blocks [A-Z] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 

3.12 FB reference list - 9300 Servo PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 

3.13 FB reference list - 9300 servo inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 

4 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 

4.1 L_Dc2BytesToWord - Data type conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 

4.2 L_Dc2WordsToDWord - Data type conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 

4.3 L_Dc4BytesToDWord - Data type conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 

4.4 L_DcBitShift - Shift operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 

4.5 L_DcBitsToByte - Bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 

4.6 L_DcBitsToDWord - Bit multiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 

4.7 L_DcBitsToWord - Bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 

4.8 L_DcByteToBits - Bit demultiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 

4.9 L_DcByteToWord - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 

4.10 L_DcDIntToDWord - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 

L 1.4 EN - 08/2006 3


Contents 

4.11 L_DcDIntToInt - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 

4.12 L_DcDWordBitand - Bit combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 

4.13 L_DcDWordBitor - Bit combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 

4.14 L_DcDWordBitxor - Bit combination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 

4.15 L_DcDWordTo2Words - Data type conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 

4.16 L_DcDWordTo4Bytes - Data type conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 

4.17 L_DcDWordToBits - Bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 

4.18 L_DcDWordToDInt - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 

4.19 L_DcDWordToWord - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 

4.20 L_DcGetBitOfByte - Bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 

4.21 L_DcGetBitOfDWord - Bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 

4.22 L_DcGetBitOfWord - Bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 

4.23 L_DcIntToDInt - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 

4.24 L_DcIntToWord - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 

4.25 L_DcNorm_aToNorm_n - Signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 

4.26 L_DcNorm_nToNorm_a - Signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 

4.27 L_DcNorm_nToSpeed_s - Signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 

4.28 L_DcResetBitOfByte - Bit operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 

4.29 L_DcResetBitOfDWord - Bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 

4.30 L_DcResetBitOfWord - Bit operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 

4.31 L_DcSetBitOfByte - Bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 

4.32 L_DcSetBitOfDWord - Bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 

4.33 L_DcSetBitOfWord - Bit operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 

4.34 L_DcSpeed_sToNorm_n - Signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 

4.35 L_DcSpeed_sToSpeed_v - Signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 

4.36 L_DcSpeed_vToSpeed_s - Signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 

4.37 L_DcWordTo2Bytes - Data type conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 

4.38 L_DcWordToBits - Bit demultiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 

4.39 L_DcWordToByte - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 

4.40 L_DcWordToDWord - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 

4.41 L_DcWordToInt - Type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 

4.42 L_DevApplErr - Error tripping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 

4.43 L_DevBrakeStateDecoder - Status signals of the basic function "Brake control" . . . . . 85 

4.44 L_DevDriveInterfaceStateDecoder - Status signals of the drive interface. . . . . . . . . . . . 87 

4.45 L_DevHomingStateDecoder - Status signals of the basic function "Homing" . . . . . . . . 89 

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Contents 

4.46 L_DevLimiterStateDecoder - Status signals of the basic function "Limiter" . . . . . . . . . . 91 

4.47 L_DevManualJogStateDecoder - Status signals of the basic function "ManualJog" . . 93 

4.48 L_LdAddOffsetCyclic - Offset addition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 

4.49 L_LdClutchAxisP - Virtual clutch for synchronism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 

4.50 L_LdClutchV - Virtual clutch for electronic gearboxes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 

4.51 L_LdConvAxisV - Speed ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 

4.52 L_LdDifferentiateCyclic - Cyclic differentiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 

4.53 L_LdExtrapolate - Extrapolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 

4.53.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 

4.54 L_LdIntegrateCyclic - Cyclic integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 

4.55 L_LdLinearCoupling - Master value connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 

4.56 L_LdMarkSync - Mark synchronisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 

4.57 L_LdMonitFollowError - Following error monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 

4.58 L_LdMPot - Master value adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 

4.59 L_LdPosCtrlLin - Master value adjustment via position . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 

4.60 L_LdSetAxisVelocity - Master value processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 

4.61 L_LdStateDecoder - LineDrive status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 

4.62 L_LdSyncOperation - Master value connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 

4.63 L_LdToolControl - Setpoint conditioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 

4.64 L_LdVirtualMasterP - Virtual master for synchronism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 

4.64.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 

4.65 L_LdVirtualMasterV - Virtual master for electronic gearboxes. . . . . . . . . . . . . . . . . . . . . . 142 

4.65.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 

4.66 L_LdZeroDetect - Zero crossing detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 

4.67 L_PosDecoderStatePositioner - Positioning status signals . . . . . . . . . . . . . . . . . . . . . . . . . 147 

4.68 L_PosDecoderStateSequencer - Status signals of the sequence control . . . . . . . . . . . . . 149 

4.69 L_PosGetProfile - Profile data tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 

4.70 L_PosGetProfileData - Profile data output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 

4.71 L_PosGetTableAcc - Acceleration table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 

4.72 L_PosGetTableJerk - S-ramp time table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 

4.73 L_PosGetTablePos - Position table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 

4.74 L_PosGetTableSpeed - Speed table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 

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Contents 

4.75 L_PosPositionerTable - Profile data record management . . . . . . . . . . . . . . . . . . . . . . . . . . 158 

4.75.1 Variable tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 

4.75.2 "Teach" function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 

4.75.3 Positioning modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 

4.75.4 Touch probe positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 

4.76 L_PosProfileInterface - Profile data interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 

4.77 L_PosProfileTable - Profile data record management (simple). . . . . . . . . . . . . . . . . . . . . . 173 

4.77.1 Profile data table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 

4.77.2 "Teach" function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 

4.77.3 Positioning modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 

4.77.4 Touch probe positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 

4.78 L_PosSequencer - Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 

4.78.1 Priorities of the control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 

4.78.2 States of the sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 

4.78.3 Action types available for creating the positioning program. . . . . . . . . . . . . . . . 190 

4.78.3.1 Action type "Program end" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 

4.78.3.2 Action type "Positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 

4.78.3.3 Action type "Switching" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 

4.78.3.4 Action type "Branching" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 

4.78.3.5 Action type "Variable branching" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 

4.78.3.6 Action type "Homing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 

4.78.3.7 Action type "Waiting" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 

4.78.3.8 Action type "Counter setting". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 

4.78.3.9 Action type "Counting" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 

4.78.3.10 Action type "Stand-by" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 

4.78.4 Example: Sequence table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 

4.79 L_SdDelayComp - Dead time compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 

4.80 L_SdDifferentiate - Differentiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 

4.81 L_SdFactor - Stretching factor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 

4.82 L_SdGetPosition - Position conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 

4.83 L_SdGetSpeed - Speed conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 

4.84 L_SdIntegrate - integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 

4.85 L_SdLimitSpeed - Speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 

4.86 L_SdPosToUnit - Position conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 

4.87 L_SdRampGenerator - Ramp function generator with S-ramp. . . . . . . . . . . . . . . . . . . . . . 213 

4.87.1 Loading the ramp function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 

4.87.2 Acceleration and jerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 

4.88 L_SdRuntimeComp - Runtime compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 

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4.89 L_SdSetAxisData - Machine parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 

4.89.1 Typical application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 

4.89.2 Selection and input of machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 

4.89.3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 

4.90 L_SdSetPosition - position conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 

4.91 L_SdSetSpeed - speed conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 

4.92 L_SdSpeedFilter - Speed signal delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 

4.93 L_SdSpeedSet - Setpoint ramp generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225 

4.93.1 Setpoint path. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 

4.93.2 Fixed setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 

4.93.3 Ramp generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 

4.93.4 Setting and selection of the Ti times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 

4.93.5 Display of the machine-based variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 

4.94 L_SdSpeedToUnit - Speed conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 

4.95 L_SdSwitchPoint - Position switch points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 

4.96 L_SdTouchProbe - Touch probe evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 

4.96.1 Actual value interpolation (principle) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 

4.96.2 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 

4.97 L_SdUnitToPos - Position conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 

4.98 L_SdUnitToSpeed - Speed conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 

4.99 L_Tb5And - AND with 5 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 

4.100 L_Tb5Nand - NAND with 5 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 

4.101 L_Tb5Nor - NOR with 5 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241 

4.102 L_Tb5Or - OR with 5 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 

4.103 L_Tb5Xor - XOR with 5 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 

4.104 L_Tb8Select - 1-out of-8-selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244 

4.105 L_TbAbs - Absolute value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 

4.106 L_TbAdd - Addition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246 

4.107 L_TbAddLim - Addition with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 

4.108 L_TbAnd - AND with 2 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 

4.109 L_TbCompare - comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 

4.109.1 Function 1: dnIn1 = dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250 

4.109.2 Function 2: dnIn1 > dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251 

4.109.3 Function 3: dnIn1 < dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 

4.109.4 Function 4: |dnIn1| = |dnIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 

4.109.5 Function 5: |dnIn1| > |dnIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 

4.109.6 Function 6: |dnIn1| < |dnIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 

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Contents 

4.110 L_TbCompare_n - scaled comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 

4.110.1 Function 1: dnIn1_n = dnIn2_n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 

4.110.2 Function 2: dnIn1_n > dnIn2_n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 

4.110.3 Function 3: dnIn1_n < dnIn2_n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 

4.110.4 Function 4: |dnIn1_n| = |dnIn2_n| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 

4.110.5 Function 5: |dnIn1_n| > |dnIn2_n| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 

4.110.6 Function 6: |dnIn1_n| < |dnIn2_n| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 

4.111 L_TbCount - Up/downcounter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 

4.111.1 Function 1: Automatic counter reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 

4.111.2 Function 2: Counter stop at upper limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 

4.112 L_TbCurve - characteristic function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 

4.112.1 Selection of the characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 

4.112.2 Characteristic mode 0: Entire range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 

4.112.3 Characteristic mode 1: Symmetrically to y axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264 

4.112.4 Characteristic mode 2: Symmetrically to zero point . . . . . . . . . . . . . . . . . . . . . . . . 265 

4.113 L_TbDeadband - Dead band with gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266 

4.114 L_TbDeadband_n - Scaled dead band with gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268 

4.115 L_TbDelay - Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 

4.115.1 Function 1: ON-delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271 

4.115.2 Function 2: OFF-delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272 

4.115.3 Function 3: General delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272 

4.116 L_TbDifferentiate - Differentiator with low-pass filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273 

4.117 L_TbDiv - Division . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 

4.118 L_TbDiv_n - Scaled division . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 

4.119 L_TbFlipFlopD - D flipflop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 

4.120 L_TbFlipFlopRS - Status-controlled RS flipflop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 

4.121 L_TbGainLim - Gain with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 

4.122 L_TbIntegrate - Integration with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 

4.123 L_TbLimit - Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 

4.124 L_TbLimit_n - Scaled limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 

4.125 L_TbMul - Multiplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 

4.126 L_TbMul_n - Scaled multiplication with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 

4.127 L_TbMulLim - Multiplication with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 

4.128 L_TbNand - NAND with 2 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 

4.129 L_TbNeg - Negation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 

4.130 L_TbNor - NOR with 2 inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 

4.131 L_TbNormalize - Signal scaling with limitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 

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4.132 L_TbNot - Negation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 

4.133 L_TbOr - OR with 2 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 

4.134 L_TbOscillator - Rectangular signal generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 

4.134.1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 

4.134.2 Optimising the accuracy of the output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295 

4.135 L_TbPIController - PI controller with limitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 

4.136 L_TbPT1Filter - Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298 

4.137 L_TbRateAction - Rate action with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300 

4.138 L_TbSampleHold - Sample & Hold. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 

4.139 L_TbSelect - Switch-over. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 

4.140 L_TbSub - Subtraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304 

4.141 L_TbSubLim - Subtraction with limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305 

4.142 L_TbTransition - Edge evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 

4.142.1 Function 1: Evaluating rising edges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307 

4.142.2 Function 2: Evaluating falling edges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307 

4.142.3 Function 3: Evaluating rising and falling edges . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308 

4.143 L_TbXor - XOR with 2 inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309 

5 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 

Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316 

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About this Manual 

Conventions used 

1 About this Manual 

This Manual contains information on the Lenze function blocks which can be used in the 

L-force »Engineer« function block editor for the "9400 Servo Drives". 

1.1 Conventions used 

This Manual uses the following conventions to distinguish between different types of 

information: 

Type of information Writing Examples/notes 

Variable identifier italics Set bEnable to TRUE to... 

Window The message window... / The Options dialog box... 

Control element bold The OK button... / The Copy command... / The Properties tab... / The 

Name input field... 

Sequence of 

If several commands must be used in sequence to carry out a function, 

menu commands 

then the individual commands are separated by an arrow. Select the 

command File�Open to... 

Shortcut Press to open the Online Help. 

If a command requires a combination of keys, a "+" is placed between 

the key symbols: 

Use + to... 

Program code Courier IF var1 < var2 THEN 

Keyword Courier 

bold 

a = a + 1 

END IF 

Hyperlink underline Hyperlinks are highlighted references which are activated by means of a 

mouse click. 

Step-by-step 

instructions � 

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

10 1.4 EN - 08/2006 L

1.2 Definition of notes used 


About this Manual 

Definition of notes used 

This documentation uses the following signal words and symbols to indicate dangers and 

important information: 

Safety instructions 

Layout of the safety instructions: 

� Pictograph and signal word! 

(characterise the type and severity of danger) 

Note 

(describes the danger and gives information about how to prevent dangerous 

situations) 

Pictograph Signal word Meaning 

� 

Danger! Danger of personal injury through dangerous electrical voltage 

Reference to an imminent danger that may result in death or serious personal injury 

if the corresponding measures are not taken. 

� 

Danger! Danger of personal injury through a general source of danger 

Reference to an imminent danger that may result in death or serious personal injury 

if the corresponding measures are not taken. 

� 

Application notes 

Stop! Danger of property damage 

Reference to a possible danger that may result in property damage if the 

corresponding measures are not taken. 

Pictograph Signal word Meaning 

� 

Note! Important note for trouble-free operation 

� Tip! 

Useful tip for easy handling 

L 1.4 EN - 08/2006 11


General information 

What is a function block? 

2 General information 

2.1 What is a function block? 

A function block (FB) can be compared with an integrated circuit that contains a certain 

control logic and delivers one or several values when being executed. 

� Function blocks are classified in function libraries according to their functions. 

� An instance (reproduction, copy) of the function block is always inserted in the circuit. 

� It is also possible to insert several instances of a function block in a circuit. 

� Each instance has an unequivocal identifier (the instance name) and a processing 

number which defines the position the function block is calculated during runtime. 

� Instance name (freely selectable) 

� Function block name (cannot be changed) 

� Processing number 

� Other instance of the function block 

[2-1] Information on a function block in the function block editor 

2.2 Parameterisable function blocks 

Some function blocks have parameters which serve to change particular settings during 

operation, if required or which display actual values & status information. 

� By clicking the symbol the parameter list of a function block can be opened. 

12 1.4 EN - 08/2006 L

Allocation of the user codes 



Parameterisable function blocks 

After a parameterisable function block has been selected, an index must be defined in the 

dialog box Define Function Block Properties from which on the allocation of user codes for 

the parameters is to start. 

� If the user codes for the compatibility with earlier devices are not yet assigned, these 

are suggested for the function block: 

� If the user codes for the compatibility with earlier devices are already assigned, e.g. 

since an instance of the function block is already available in the connection, a free 

(user-defined) index will be automatically suggested which can also be changed, if 

required: 

� Note! 

The parameters described in this documentation are always listed together with 

the user code index that results from the selection of the option Compatible 

with earlier devices! 

Wildcard "unit" for the real unit of the machine 

The parameters for a travel profile (e.g. position, speed, acceleration and deceleration) are 

selected in real units with regard to the slide, e.g. 1000 mm as relative position. 

� The machine parameters of the drive interface (system block LS_DriveInterface) are 

used to define the real unit. 

� This documentation uses the term "unit" in the parameter unit information only as a 

wildcard for the real unit of the machine. 

Resolution Value range Number of decimal positions 

32 bits ± 214748.3647 4 

L 1.4 EN - 08/2006 13



Conventions used for input/output identifiers 

2.3 Conventions used for input/output identifiers 

This chapter describes the conventions used for the identifiers of the inputs/outputs of the 

function blocks to ensure a uniform and consistent terminology and to make reading and 

comprehending the applications and function block connections easier. 

� Tip! 

The conventions used by Lenze are based on the "Hungarian Notation". This 

ensures that the most significant characteristics of the corresponding input/ 

output (e.g. the data type) can be instantly recognised from its identifier. 

An identifier consists of 

� a data type entry 

� an identifier (the "proper" name of the input/output) 

� an (optional) signal type specification 

Data type entry 

The data type entry provides information about the data type of the corresponding input/ 

output: 

Data type entry Meaning Bit width Value range 

min MAX 

b BOOL 1 FALSE TRUE 

by BYTE 8 0 255 

dn DINT 32 -2147483648 2147483647 

dw DWORD 32 0 4294967295 

n INT 16 -32768 32767 

s STRING - - - 

t TIME 32 - - 

W WORD 16 0 65535 

If it is about an array or a pointer, this will be indicated before the data type entry: 

Data type entry Meaning 

a Array (combined type), field 

p Pointer 

14 1.4 EN - 08/2006 L

Identifier 



Conventions used for input/output identifiers 

The identifier is the proper name of the input/output and should indicate the application 

or function. 

� Identifiers always start with a capital letter. 

� If an identifier consists of several "words", then each "word" must start with a capital 

letter. 

� All other letters are written in lower case. 

Signal type entry 

In general, it is possible to assign a certain signal type to the inputs and outputs of the 

Lenze function blocks. There are e.g. digital, scaled, position, acceleration and speed 

signals. 

� A corresponding ending (preceded by an underscore) is added to the identifier of the 

corresponding input/output to indicate the signal type. 

� An overview of the different signal types and their scaling is provided in the following 

subchapter "Signal types & scaling". (� 16) 

L 1.4 EN - 08/2006 15

16 1.4 EN - 08/2006 L 

2.4 Signal types & scaling 

It is very helpful for the parameter setting & configuration of the controller to know the signal types and their scaling listed 

in the following table, which are used to process physical values (e.g. a speed or position) in the function block 

interconnection. 

Signal type Unit Connection 

symbol in 

the FB editor 

Resolution Scaling 

external ≡ internal 

Range 

Number of 

decimal 

positions 

Position inc � / � 32 bits 1 motor revolution ≡ 2 16 inc -2 31 ... 2 31 -1 inc 3 _p 

Speed rpm � / � 16 bits 15000 rpm ≡ 2 14 ≡ 16384 ± 30000.0 rpm 1 _v 

� 32 bits 15000 rpm ≡ 226 ≡ 67108864 ± 480000.0 rpm 1 _s 

Speed change/time rpm/s � 32 bits 15000000 rpm/s ≡ 2 22 ≡ 4194304 ± 7.69 * 10 9 rpm/s 3 _x 

Scaled signal % � 32 bits 100 % ≡ 2 30 ≡ 1073741824 ± 200.00 % 2 _n 

� 16 bits 100 % ≡ 214 ≡ 16384 ± 199.99 % 2 _a 

Control/status signal � 1 Bit 0 ≡ FALSE; 1 ≡ TRUE 0 / 1 0 

Time s � 28 bits 0 ... 268435.456 s 3 

Status word � 32 bits -2147483648 ... 2147483647 

(0000 0000hex ... FFFF FFFFhex ) 

0 

Not standardised � 

� Tip! 

Only inputs/outputs of the same signal type (with the same connection 

symbol) can be connected in the »Engineer« function block editor. 

Non-standardised inputs/outputs can be connected if the input and 

output have the same resolution. 

The online documentation for the »Engineer« contains detailed 

information on how to use the function block editor. 

Identifier 

suffix 



Signal types & scaling

3 Short overview 

3.1 Analog signal processing 


Short overview 

Analog signal processing 

Function block Function 

L_SdDelayComp Extrapolation 

...extrapolates a signal by the time set. 

L_Tb8Select 1-from-8-selector 

...connects one of eight analog input signals through to the output. 

L_TbAbs Absolute value generation 

...converts a bipolar signal into a unipolar signal, i.e. the absolute value of the 

input signal is generated. 

L_TbCompare Comparison 

...compares two signals of the "DINT" data type and can be used e.g. for 

implementing a trigger. 

L_TbCompare_n Comparison (scaled) 

...compares two scaled signals and can be used e.g. for implementing a 

trigger. 

L_TbCurve Characteristic function 

...produces the corresponding value of the Y axis for the X axis value with a 

parameterisable characteristic function y = f(x). 

L_TbDeadband Dead band 

...produces a symmetrical dead band around zero. 

L_TbDeadband_n Dead band (scaled) 

...produces a symmetrical dead band (scaled) around zero. 

L_TbDifferentiate Differentiator with low pass 

L_TbGainLim Gain with limitation 

L_TbLimit Signal limitation 

...limits a signal of "DINT" data type to an adjustable value range. 

L_TbLimit_n Signal limitation (scaled) 

...limits a scaled signal [%] to an adjustable value range. 

L_TbNeg Sign inversion 

...block inverts the sign of the input signal, i.e. the input signal is multiplied 

by -1 and is then output. 

L_TbNormalize Signal scaling 

...scales any signal to a parameterisable reference variable. 

L_TbPIController Simple PI controller with different control functions and parameterisable 

limitation. 

L_TbPT1Filter PT1 filter 

...filters and delays analog signals. 

L_TbRateAction Rate action function to compensate disturbing low passes. 

L_TbSampleHold Sample & Hold 

...stores a value in order to keep it even after mains switching. 

L_TbSelect Selector 

...switches between two signals. The switch-over is controlled via a boolean 

input signal. 

L 1.4 EN - 08/2006 17



Digital signal processing 

3.2 Digital signal processing 


L_TbCount Upcounter and downcounter with adjustable limitation. 

L_TbDelay Binary delay element 

L_TbFlipFlopD D flipflop 

• Can be used for evaluation and storage of digital signal edges. 

L_TbFlipFlopRS RS flipflop 

• Can be used for evaluation and storage of digital signals. 

L_TbOscillator Rectangular pulse generator with parameterisable pulse/dead time. 

L_TbTransition Signal edge evaluation 

• Can be used to generate timed and retriggerable pulses. 

Logic operations for "BOOL" data type 

Function block Logic operation 

L_TbAnd AND (2 inputs) 

L_Tb5And AND (5 inputs) 

L_TbOr OR (2 inputs) 

L_Tb5Or OR (5 inputs) 

L_TbNand NOT-AND (2 inputs) 

L_Tb5Nand NOT-AND (5 inputs) 

L_TbNor NOT-OR (2 inputs) 

L_Tb5Nor NOT-OR (5 inputs) 

L_TbXor EXCLUSIVE-OR (2 inputs) 

L_Tb5Xor EXCLUSIVE-OR (5 inputs) 

L_TbNot Negation (inverter) 

Bit operations for "DINT" data type 


L_DcBitShift Bit shift operation 

Bit operations for "BYTE" data type 


L_DcByteToBits BYTE conversion � BOOL (8 x) 

L_DcGetBitOfByte Output a status of a single bit. 

L_DcSetBitOfByte Set a single bit to "1". 

L_DcResetBitOfByte Reset a single bit to "0". 

Bit operations for "WORD" data type 


L_DcWordToBits WORD conversion � BOOL (16 x) 

18 1.4 EN - 08/2006 L


L_DcSetBitOfWord Set a single bit to "1". 

L_DcResetBitOfWord Reset a single bit to "0". 

Bit operations for "DWORD" data type 

3.3 Data type conversion 



Data type conversion 


L_DcDWordToBits DWORD conversion � BOOL (32 x) 

L_DcGetBitOfDWord Output a status of a single bit. 

L_DcSetBitOfDWord Set a single bit to "1". 

L_DcResetBitOfDWord Reset a single bit to "0". 

L_DcDWordBitand Bit-by-bit AND operation of two DWORD values. 

L_DcDWordBitor Bit-by-bit OR operation of two DWORD values. 

L_DcDWordBitxor Bit-by-bit EXCLUSIVE-OR operation of two DWORD values. 


L_DcBitsToByte BOOL (8 x) � BYTE 

L_DcBitsToWord BOOL (16 x) � WORD 

L_DcBitsToDWord BOOL (32 x) � DWORD 

L_DcByteToBits BYTE � BOOL (8 x) 

L_DcByteToWord BYTE � WORD 

L_Dc2BytesToWord BYTE (2 x) � WORD 

L_Dc4BytesToDWord BYTE (4 x) � DWORD 

L_DcIntToDInt INT � DINT 

L_DcIntToWord INT � WORD 

L_DcDIntToInt DINT � INT 

L_DcDIntToDWord DINT � DWORD 

L_DcWordToBits WORD � BOOL (16 x) 

L_DcWordTo2Bytes WORD � BYTE (2 x) 

L_DcWordToByte WORD � BYTE 

L_DcWordToInt WORD � INT 

L_DcWordToDWord WORD � DWORD 

L_Dc2WordsToDWord WORD (2 x) � DWORD 

L_DcDWordToBits DWORD � BOOL (32 x) 

L_DcDWordTo4Bytes DWORD � BYTE (4 x) 

L_DcDWordToDInt DWORD � DINT 

L_DcDWordToWord DWORD � WORD 

L_DcDWordTo2Words DWORD � WORD (2 x) 

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Mathematical functions 

3.4 Mathematical functions 

Function block Mathematical function 

L_TbAbs Absolute value generation 

L_TbAdd Addition without limitation 

L_TbAddLim Addition with limitation 

L_TbDiv Division with remainder 

L_TbDiv_n Division divisor selected as scaled signal [%] 

L_TbIntegrate Integration with limitation 

L_TbMul Multiplication without limitation 

L_TbMul_n Multiplication with the multiplicand selected as scaled signal [%] 

L_TbMulLim Multiplication with limitation 

L_TbNeg Sign inversion 

L_TbSub Subtraction without limitation 

L_TbSubLim Subtraction with limitation 

3.5 Conversion of physical units 


L_DcNorm_aToNorm_n 16-bit signal (scaled) � 32-bit signal (scaled) 

L_DcNorm_nToNorm_a 32-bit signal (scaled) � 16-bit signal (scaled) 

L_DcNorm_nToSpeed_s 32-bit signal (scaled) � 32-bit-speed signal 

L_DcSpeed_vToSpeed_s 16-bit speed signal � 32-bit speed signal 

L_DcSpeed_sToSpeed_v 32-bit speed signal � 16-bit speed signal 

L_DcSpeed_sToNorm_n 32-bit speed signal � 32-bit signal (scaled) 

L_SdDifferentiate Differentiation (position � speed) 

L_SdIntegrate Integration (speed � position) 

L_SdUnitToPos Position [unit] � position [increments] 

L_SdSetPosition Position [unit] (selected as parameter value) � position [increments] 

L_SdPosToUnit Position [increments] � position [unit] 

L_SdGetPosition Position [increments] � position [unit] (displayed as parameter value) 

L_SdGetSpeed Speed � speed [unit/s] (displayed as parameter value) 

L_SdUnitToSpeed Speed [unit/s] � speed 

L_SdSetSpeed Speed [unit/s] (selected as parameter value) � speed 

20 1.4 EN - 08/2006 L

3.6 Speed conditioning 

3.7 Special functions 

3.8 Output of status signals 



Speed conditioning 


L_SdDifferentiate Differentiation (position � speed) 

L_SdIntegrate Integration (speed � position) 

L_SdLimitSpeed Leads a speed setpoint to defined limit ranges. 

L_SdSpeedFilter Filters or decelerates speed signal according to the PT1 principle. 

L_SdRampGenerator Ramp generator (ramp function generator) with S-shaped ramps. 

L_SdSpeedSet Ramp generator (ramp function generator) with S-shaped ramps, 

parameterisable fixed setpoints and comprehensive parameter setting and 

control options. 


L_DevApplErr Fault tripping 

• Up to 8 different application fault messages with parameterisable 

module ID, fault ID , and fault response can be tripped by the application. 

L_SdSetAxisData Represented machine parameters of a master drive. 

L_SdTouchProbe Touch probe processing 

• The FB takes over the interpolation of the input signal based on the time 

stamp handed over by a touch probe system block and outputs the 

interpolated value and the difference compared with the last input 

signal. 

The following FBs decode the status output signal dnState, which is made available by 

some system and function blocks, into single boolean status signals for further use in the 

FB interconnection: 


L_DevDriveInterfaceStateDecoder Status signals of the drive interface (SB LS_DriveInterface) 

L_DevManualJogStateDecoder Status signals of the basic function "Manual jog" (SB LS_ManualJog) 

L_DevHomingStateDecoder Status signals of the basic function "Homing" (SB LS_Homing) 

L_DevLimiterStateDecoder Status signals of the basic function "Limiter" (SB LS_Limiter) 

L_DevBrakeStateDecoder Status signals of the basic function "Brake control" (SB LS_Brake) 

L_PosDecoderStatePositioner Status signals of the basic function "Positioning" (SB LS_Positioner) 

L_PosDecoderStateSequencer Status signals of the sequence control (FB L_PosSequencer) 

L_LdStateDecoder Status signals of the FBs of the function library "LenzeLineDrive.lib" 

L 1.4 EN - 08/2006 21



FBs for system via electrical shaft 

3.9 FBs for system via electrical shaft 

Application "Electronic gearbox" 


L_LdClutchV Virtual clutch with speed reference. 

L_LdExtrapolate Extrapolation of position information in order to e.g. compensate higher bus 

transmission cycles or smooth absolute value encoders with low resolution. 

L_LdMonitFollowError Following error monitoring with adjustable switching threshold and 

hysteresis. 

L_LdMPot Master value adjustment in positive/negative traversing direction with 

parameterisable speeds. 

L_LdSetAxisVelocity Extension/compression of the X axis and synchronisation via touch probe. 

The master speed is integrated to the position within the cycle. 

L_LdStateDecoder Decoding of the status output signal dnState of an FB from the function 

library "LenzeLineDrive.lib" into individual boolean status signals for further 

use in the FB interconnection. 

L_LdToolControl Setpoint conditioning for the tool axis. 

L_LdVirtualMasterV Virtual master 

L_SdFactor Stretch factor 

L_SdRuntimeComp Compensation of the runtime by a leading master value. 


"Synchronism" application" 


L_LdAddOffsetCyclic Offset addition to a clocked position. 

L_LdClutchAxisP Virtual clutch with position reference. 

L_LdConvAxisV Speed ratio between two axes. 

L_LdDifferentiateCyclic Differentiation of a position considering the cycle. 

L_LdExtrapolate Extrapolation of position information in order to e.g. compensate higher bus 

transmission cycles or smooth absolute value encoders with low resolution. 

L_LdIntegrateCyclic Integration of a speed to a position considering the cycle. 

L_LdLinearCoupling Master value connection 

L_LdMarkSync Mark synchronisation in synchronism and cam profiler applications. 


hysteresis. 

L_LdPosCtrlLin Master value adjustment (related to position) 

L_LdStateDecoder Decoding of the status output signal dnState of an FB from the function 

library "LenzeLineDrive.lib" into individual boolean status signals for further 

use in the FB interconnection. 

L_LdSyncOperation Master value connection 

L_LdToolControl Setpoint conditioning for the tool axis. 

L_LdVirtualMasterP Virtual master 

L_LdZeroDetect Detection of zero crossings in case of a clocked position. 

L_SdRuntimeComp Compensation of the runtime by a leading master value. 


L_SdSwitchPoint Position switch points (cams) 

22 1.4 EN - 08/2006 L

3.10 FBs for positioning tasks 



FBs for positioning tasks 


L_PosPositionerTable Storing and managing (traversing) profiles and "teaching" positions, speeds, 

accelerations/decelerations and S-ramp times. 

L_PosProfileTable Storing and managing up to four traversing profiles and "teaching" target 

positions. 

• Unlike the FB L_PosPositionerTable, this FB does not use any variable 

tables, but profile parameter data is directly entered under the assigned 

codes. 

• Furthermore, the position assigned to the input dnExtPos_p will be used 

as target position if profile number 1 is selected. 

L_PosSequencer Parameterisable sequence table to implement a sequence control. 

L_PosProfileInterface Profile data selection for the SB LS_Positioner. 

L_SdSwitchPoint Position switch points (cams) 


hysteresis. 

L_PosGetProfile Output of profile data sets 

• Together with an FB instance of type L_PosPositionerTable or 

L_PosProfileTable this FB provides five profile data sets that can be 

selected. 

L_PosGetProfileData Output of profile parameters from one profile data set. 

L_PosGetTableAcc Output of parameterised accelerations 

• Together with an FB instance 

– ...of type L_PosPositionerTable this FB provides five acceleration values 

from the VTACC variable table. 

–...of type L_PosProfileTable this FB provides accelerations which are 

directly defined in the profiles. 

L_PosGetTableJerk Output of parameterised S-ramp times 


–...of type L_PosPositionerTable this FB provides five S-ramp times from 

the VTJERK variable table . 

–...of type L_PosProfileTable this FB provides S-ramp times which are 


L_PosGetTablePos Output of parameterised positions 


– ...of type L_PosPositionerTable this FB provides five position values from 

the VTPOS variable table. 

– ...of type L_PosProfileTable this FB provides positions which are directly 

defined in the profiles. 

L_PosGetTableSpeed Output of parameterised speeds 


–...of type L_PosPositionerTable this FB provides five speed values from 

the VTSPEED variable table. 

–...of type L_PosProfileTable this FB provides speeds which are directly 

defined in the profiles. 

L_PosDecoderStatePositioner Decoding of the status output signal dnState of SB LS_Positioner into 

individual boolean status signals for further use in the FB interconnection. 

L_PosDecoderStateSequencer Decoding of the status output signal dnState of FB LS_PosSequencer into 


L 1.4 EN - 08/2006 23



All function blocks [A-Z] 

3.11 All function blocks [A-Z] 


L_Dc2BytesToWord ...converts two input values of type "BYTE" into an output value of type 

"WORD". 

L_Dc2WordsToDWord ...converts two input values of type "WORD" into an output value of type 

"DWORD". 

L_Dc4BytesToDWord ...converts four input values of type "BYTE" into an output value of type 

"DWORD". 

L_DcBitShift ...carries out a bit shift operation with a "DINT" value. 

L_DcBitsToByte ...converts 8 single bit values into a value of type "byte". 

L_DcBitsToDWord ...converts 32 single bit values into a value of type "DWORD". 

L_DcBitsToWord ...converts 16 single bit values into a value of type "WORD". 

L_DcByteToBits ...outputs the 8 corresponding bit values for an input value of type "byte". 

L_DcByteToWord ...converts a data type "BYTE" into the data type "WORD" . 

L_DcDIntToDWord ...converts a data type "DINT" into the data type "DWORD" . 

L_DcDIntToInt ...converts a data type "DINT" into the data type "INT" . 

L_DcDWordBitand ...carries out a bit-by-bit AND operation of two input values of "DWORD" 

type and also outputs the results as "DWORD". 

L_DcDWordBitor ...carries out a bit-by-bit OR operation of two input values of "DWORD" type 

and also outputs the results as "DWORD". 

L_DcDWordBitxor ...carries out a bit-by-bit EXCLUSIVE-OR operation of two input values of 

"DWORD" type and also outputs the results as "DWORD". 

L_DcDWordTo2Words ...converts an input value of type "DWORD" into two output values of type 

"WORD". 

L_DcDWordTo4Bytes ...converts an input value of type "DWORD" into four output values of type 

"BYTE". 

L_DcDWordToBits ...outputs the 32 corresponding bit values for an input value of type 

"DWORD". 

L_DcDWordToDInt ...converts a data type "DWORD" into the data type "DINT" . 

L_DcDWordToWord ...converts a data type "DWORD" into the data type "WORD" . 

L_DcGetBitOfByte ...returns the state of a single bit within a "BYTE" value. 

L_DcGetBitOfDWord ...returns the state of a single bit within a "DWORD" value. 

L_DcIntToDInt ...converts a data type "INT" into the data type "DINT" . 

L_DcIntToWord ...converts a data type "INT" into the data type "WORD" . 

L_DcNorm_aToNorm_n ...converts a scaled 16-bit signal into a scaled 32-bit signal. 

L_DcNorm_nToNorm_a ...converts a scaled 32-bit signal into a scaled 16-bit signal. 

L_DcNorm_nToSpeed_s ...uses the transmitted machine parameters and converts a scaled 32-bit 

signal into a 32-bit speed signal. 

L_DcResetBitOfByte ...resets a single bit in a "BYTE" type value to "0". 

L_DcResetBitOfDWord ...resets a single bit in a "DWORD" type value to "0". 

L_DcResetBitOfWord ...resets a single bit in a "WORD" type value to "0". 

L_DcSetBitOfByte ...resets a single bit in a "BYTE" type value to "1". 

L_DcSetBitOfDWord ...resets a single bit in a "DWORD" type value to "1". 

L_DcSetBitOfWord ...resets a single bit in a "WORD" type value to "1". 

L_DcSpeed_sToNorm_n ...uses the transmitted machine parameters and converts a 32-bit speed 

signal into a scaled 32-bit signal. 

L_DcSpeed_sToSpeed_v ...uses the transmitted machine parameters and converts a 32-bit speed 

signal into a scaled 16-bit speed signal. 

24 1.4 EN - 08/2006 L





L_DcSpeed_vToSpeed_s ...uses the transmitted machine parameters and converts a 16-bit speed 

signal into a 32-bit speed signal. 

L_DcWordTo2Bytes ...converts an input value of type "WORD" into two output values of type 

"BYTE". 

L_DcWordToBits ...outputs the 16 corresponding bit values for an input value of type "WORD". 

L_DcWordToByte ...converts a data type "WORD" into the data type "BYTE" . 

L_DcWordToDWord ...converts a data type "WORD" into the data type "DWORD" . 

L_DcWordToInt ...converts a data type "WORD" into the data type "INT" . 

L_DevApplErr ...can trip up to 8 different application error messages with parameterisable 

module ID, error ID , and error response from the application. 

L_DevBrakeStateDecoder ...decodes the status output signal dnState of the SB LS_Brake into individual 

boolean status signals for further use in the FB interconnection. 

L_DevDriveInterfaceStateDecoder ...decodes the status output signal dnState of the SB LS_DriveInterface into 


L_DevHomingStateDecoder ...decodes the status output signal dnState of the SB LS_Homing into 


L_DevLimiterStateDecoder ...decodes the status output signal dnState of the SB LS_Limiter into 


L_DevManualJogStateDecoder ...decodes the status output signal dnState of the SB LS_ManualJog into 


L_LdAddOffsetCyclic ...adds an offset to a clocked position and returns the value to the clock pulse. 

L_LdClutchAxisP ...provides the "Virtual clutch" function with position reference for the 

"Synchronism" application. 

L_LdClutchV ...provides the "Virtual clutch" function with speed reference for the 

"Electronic gearbox" application. 

L_LdConvAxisV ...transforms a speed between two axes. 

L_LdDifferentiateCyclic ...differentiates a position considering the cycle. 

L_LdExtrapolate ...can extrapolate a position information in order to e.g. compensate higher 

bus transmission cycles or smooth absolute value encoders with low 

resolution. 

L_LdIntegrateCyclic ...integrates a speed to a position considering the cycle. 

L_LdLinearCoupling ...serves as master value connection for the "synchronism" application. 

L_LdMarkSync ...is used for mark synchronisation in synchronism and cam profiler 

applications. 

L_LdMonitFollowError ...is used for following error monitoring with adjustable switching threshold 

and hysteresis. 

L_LdMPot ...can adjust the master value in positive/negative traversing direction with 

parameterisable speeds. 

L_LdPosCtrlLin ...can be used for a position-related master value adjustment. 

L_LdSetAxisVelocity ...serves to extend/compress the X axis and execute a synchronisation via 

touch probe. The master speed is integrated to the position within the cycle. 

L_LdStateDecoder ...decodes the status output signal dnState of an FB from the function library 

"LenzeLineDrive.lib" into individual boolean status signals for further use in 

the FB interconnection. 

L_LdSyncOperation ...serves as master value connection for the "synchronism" application. 

L_LdToolControl ...is used for setpoint conditioning. 

L_LdVirtualMasterP ...provides the "Virtual master" function for the "Synchronism" application. 

L_LdVirtualMasterV ...provides the "Virtual master" function for the "Electronic gearbox" 

application. 

L_LdZeroDetect ...FB observes a clocked position and detects zero crossings. 

L 1.4 EN - 08/2006 25





L_PosDecoderStatePositioner ...decodes the status output signal dnState of the SB LS_Positioner into 


L_PosDecoderStateSequencer ...decodes the status output signal dnState of FB LS_PosSequencer into 


L_PosGetProfile ...provides together with an FB instance of type L_PosPositionerTable or 

L_PosProfileTable five profile data sets that can be selected. 

L_PosGetProfileData ...outputs the profile data of a profile data set. 

L_PosGetTableAcc ...provides together with an FB instance of type L_PosPositionerTable five 

acceleration values from the VTACC variable table. 

...provides together with an FB instance of type L_PosProfileTable the 

accelerations directly defined in the profiles. 

L_PosGetTableJerk ...provides together with an FB instance of type L_PosPositionerTable five Sramp 

times from the VTJERK variable table. 

...provides together with an FB instance of type L_PosProfileTable the S-ramp 

times directly defined in the profiles. 

L_PosGetTablePos ...provides together with an FB instance of type L_PosPositionerTable five 

position values from the VTPOS variable table. 

...provides together with an FB instance of type L_PosProfileTable the 

positions directly defined in the profiles. 

L_PosGetTableSpeed ...provides together with an FB instance of type L_PosPositionerTable five 

speed values from the VTSPEED variable table. 

...provides together with an FB instance of type L_PosProfileTable the speeds 


L_PosPositionerTable ...is used to store and manage (traversing) profiles and to teach positions, 

speeds, accelerations/decelerations and S-ramp times. 

L_PosProfileInterface ...provides a profile data record for the SB LS_Positioner. 

L_PosProfileTable ...is used to store and manage up to four traversing profiles and to "teach" 

target positions. 

• Unlike the FB L_PosPositionerTable, this FB does not use any variable 

tables, but profile parameter data is directly entered under the assigned 

codes. 

• Furthermore, the position assigned to the input dnExtPos_p will be used 

as target position if profile number 1 is selected. 

L_PosSequencer ...processes a positioning program based on a parameterisable sequence 

table. 

L_SdDelayComp ...extrapolates a signal by the time set. 

L_SdDifferentiate ...creates a speed signal from a position value. 

L_SdFactor ...provides the "Stretch factor" function for the "Electronic gearbox" 

application. 

L_SdGetPosition ...uses the transmitted machine parameters and converts a position in [inc] 

into a position in the real unit of the machine. The converted position is 

displayed as parameter value. 

L_SdGetSpeed ...uses the transmitted machine parameters and converts a speed into a 

velocity. The converted value is displayed as parameter value. 

L_SdIntegrate ...integrates a speed to a position. 

L_SdLimitSpeed ...can lead a speed setpoint to defined limit ranges. 

L_SdPosToUnit ...uses the transmitted machine parameters and converts a position defined 

in the internal unit [inc] into a position in the real unit of the machine. 

L_SdRampGenerator ...provides a ramp function generator with S-shaped ramps for limiting the 

time increase of analog signals. 

L_SdRuntimeComp ...permits the compensation of the runtime by a leading master value. 

L_SdSetAxisData ...represents the machine parameters of a master drive. 

26 1.4 EN - 08/2006 L





L_SdSetPosition ...uses the transmitted machine parameters and converts a position which 

has been selected as parameter value in the real machine units into a 

position in [inc] and outputs it for further processing within the FB 


L_SdSetSpeed ...uses the transmitted machine parameters and converts a velocity which 

has been selected as parameter value in the real machine units into a speed 

and outputs it for further processing within the FB interconnection. 

L_SdSpeedFilter ...is used to filter or delay a speed signal according to the PT1 principle. The 

resulting position loss is compensated by an internal follow-up controller. 

L_SdSpeedSet ...provides a ramp generator with comprehensive parameterisation and 

control options for conditioning a setpoint signal. 

L_SdSwitchPoint ...provides up to 8 simple position switch points (cams). 

L_SdTouchProbe ...takes over the interpolation of the input signal based on the time stamp 

handed over by a touch probe system block and outputs the interpolated 

value and the difference compared with the last input signal. 

L_SdUnitToPos ...uses the transmitted machine parameters and converts a position defined 

in the real unit of the machine into an internal position. 

L_SdUnitToSpeed ...uses the transmitted machine parameters and converts a speed value 

defined in the real unit of the machine into an internal speed value. 

L_Tb5And ...carries out a logic AND operation of binary signals. 

L_Tb5Nand ...carries out a logic NAND operation of binary signals. 

L_Tb5Nor ...carries out a logic NOR operation of binary signals. 

L_Tb5Or ...carries out a logic OR operation. 

L_Tb5Xor ...carries out a logic EXCLUSIVE-OR operation. 

L_Tb8Select ...connects one of eight analog input signals through to the output. 

L_TbAbs ...converts a bipolar signal into a unipolar signal, i.e. the absolute value of the 

input signal is generated. 

L_TbAdd ...carries out an addition without limitation. 

L_TbAddLim ...carries out an addition with limitation. 

L_TbAnd ...carries out a logic AND operation of binary signals. 

L_TbCompare ...compares two signals of the "DINT" data type and can be used e.g. for 


L_TbCompare_n ...compares two scaled signals and can be used e.g. for implementing a 

trigger. 

L_TbCount ...provides a digital upcounter and downcounter with adjustable limitation. 

L_TbCurve ...produces the corresponding value of the Y axis for the X axis value with a 

parameterisable characteristic function y = f(x). 

L_TbDeadband ...produces a symmetrical dead band around zero. 

L_TbDeadband_n ...produces a symmetrical dead band (scaled) around zero. 

L_TbDelay ...delays binary signals. 

L_TbDifferentiate ...provides a differentiator with low pass. 

L_TbDiv ...carries out a division with remainder. 

L_TbDiv_n ...carries out a division. The divisor (denominator) must be specified as a 

scaled signal [%]. 

L_TbFlipFlopD ...provides a D flipflop which can be used to evaluate and save digital signal 

edges. 

L_TbFlipFlopRS ...provides an RS flipflop which can be used to evaluate and save digital 

signals. 

L_TbGainLim ...carries out an addition with limitation. 

L_TbIntegrate ...carries out an integration with limitation. 

L_TbLimit ...limits a signal of "DINT" data type to an adjustable value range. 

L 1.4 EN - 08/2006 27



FB reference list - 9300 Servo PLC 


L_TbLimit_n ...limits a scaled signal [%] to an adjustable value range. 

L_TbMul ...carries out a multiplication without limitation. 

L_TbMul_n ...carries out a multiplication. The multiplicand (2. factor) must be specified 

as a scaled signal [%]. 

L_TbMulLim ...carries out a multiplication with limitation. 

L_TbNand ...carries out a logic NAND operation of binary signals. 

L_TbNeg ...block inverts the sign of the input signal, i.e. the input signal is multiplied 

by -1 and is then output. 

L_TbNor ...carries out a logic OR operation of binary signals. 

L_TbNormalize ...scales any signal to a parameterisable reference variable. 

L_TbNot ...negates a binary signal. 

L_TbOr ...carries out a logic OR operation of binary signals. 

L_TbOscillator ...provides a rectangular signal generator with parameterisable pulse/dead 

time. 

L_TbPIController ...provides a simple PI controller with different control functions and 

parameterisable limitation. 

L_TbPT1Filter ...filters and delays analog signals. 

L_TbRateAction ...provides a rate function to compensate disturbing low passes. 

L_TbSampleHold ...stores a value in order to keep it even after mains switching. 

L_TbSelect ...switches between two signals. The switch-over is controlled via a boolean 

input signal. 

L_TbSub ...carries out a subtraction without limitation. 

L_TbSubLim ...carries out a subtraction with limitation. 

L_TbTransition ...evaluates digital signal edges and can convert them into time-defined and 

retriggerable pulses. 

L_TbXor ...carries out a logic EXCLUSIVE-OR operation of binary signals. 

3.12 FB reference list - 9300 Servo PLC 

The following reference list shall assist you in finding the correct function block to simulate 

a function known from 9300 servo PLC. 

Function block for 9300 servo PLC Function block for 9400 Servo Drives 

Name Description Function library Name Description 

L_32BitTransferDINT Data-consistent copying of 

a DINT variable 

Lenze32BitTransferDrv - - 

L_32BitTransferDWORD Data-consistent copying of 

a DWORD variable 

L_8200CtrlWord Control word for the 

frequency inverter 

L_8200DataControl Process data exchange with 

frequency inverter 

Lenze32BitTransferDrv - - 

Lenze8200Drive - - 


L_8200Initialization Initialise frequency inverter Lenze8200Drive - - 

L_8200Parameter Initialise codes Lenze8200Drive - - 

L_8200StatusWord Status word of frequency 

inverters 


L_ABS Absolute value generation LenzeDrive.lib L_TbAbs Absolute value generation 

L_ADD Addition LenzeDrive.lib L_TbAdd Addition without limitation 


L_AifParMapClose* 

* Function (no function block) 

Deactivate code mapping LenzeAifParMapDrv - - 

28 1.4 EN - 08/2006 L






L_AifParMapInit* Configure code mapping LenzeAifParMapDrv - - 

L_AifParMapOpen* Activate code mapping LenzeAifParMapDrv - - 

L_AIN Input gain & offset LenzeDrive.lib SB LS_AnalogInput Analog inputs 

L_AND AND LenzeDrive.lib - - 

L_ANEG Inversion LenzeDrive.lib - - 

L_AOUT Output gain & offset LenzeDrive.lib L_TbGainLim Gain with limitation 

L_TbAdd Addition without limitation 


L_ARIT Arithmetic LenzeDrive.lib L_TbAdd Addition without limitation 



L_TbDiv_n Division divisor selected as 

scaled signal [%] 

L_TbMul Multiplication without 

limitation 

L_TbMul_n Multiplication with the 

multiplicand selected as 


L_TbMulLim Multiplication with 

limitation 

L_TbSub Subtraction without 

limitation 


L_ARITPH Arithmetic LenzeDrive.lib L_TbAdd Addition without limitation 





L_TbMul Multiplication without 

limitation 


multiplicand selected as 


L_TbMulLim Multiplication with 

limitation 

L_TbSub Subtraction without 

limitation 


L_ASW Switch-over LenzeDrive.lib L_Tb8Select 1-from-8-selector 


L_BRK Holding brake Lenze9300Servo.lib SB LS_Brake Basic function "Brake 

control" 

L_ByteArrayToDint Type conversion LenzeDrive.lib - - 

L_CamAddVelocity Speed addition LenzeCamControl2 - - 

L_CamAdjustDfIn Digital frequency 

adjustment 

LenzeCamControl2 - - 

L_CamClutchXAxis Virtual clutch LenzeCamControl1 L_LdClutchAxisP Virtual clutch with position 

reference 

L_LdClutchV Virtual clutch with speed 

reference 

L_CamContactor Cam group LenzeCamControl1 L_SdSwitchPoint Position switch points 

(cams) 

L_CamContactorVPos Dynamic adjustment of the 

cams/hysteresis 


L_CamControl Setpoint conditioning LenzeCamControl1 L_LdToolControl Setpoint conditioning for 

the tool axis 

L_CamData 


Profile management LenzeCamControl1 - - 

L 1.4 EN - 08/2006 29






L_CamDifferentiate Converter/differentiator LenzeCamControl2 L_SdDifferentiate Differentiation (position � 

speed) 

L_CamEditProfileData Online change of the profile 

points 


L_CamExtrapolate Extrapolation LenzeCamControl2 L_LdExtrapolate Extrapolation of position 

informaton 

L_CamGetPosition Unit conversion LenzeCamControl1 L_SdPosToUnit Position [increments] � 

position [unit] 

L_SdGetPosition Position [increments] � 

position [unit] (displayed as 

parameter value) 

L_CamIntegrateVarLim Phase integrator LenzeCamControl2 L_SdIntegrate Integration (speed � 

position) 

L_CamLimitVelocity Limiting element LenzeCamControl1 L_SdLimitSpeed Leads a speed setpoint to 

defined limit ranges 

L_CamMachineData Machine parameters LenzeCamControl1 L_SdSetAxisData Represented machine 

parameters of a master 

drive. 

L_CamMonitFollowError Following error monitoring LenzeCamControl1 L_LdMonitFollowError Following error monitoring 

with adjustable switching 

threshold and hysteresis. 

L_CamPosCtrlLin Linear profile generator LenzeCamControl1 - - 

L_CamProfileData Loading of important profile 

points 


L_CamSectionShift Section shift LenzeCamControl2 - - 

L_CamSelPosition Master value selection LenzeCamControl2 L_Tb8Select 1-from-8-selector 

L_CamSelVelocity Digital frequency selection LenzeCamControl2 L_Tb8Select 1-from-8-selector 

L_CamSequence Selection of a profile 

sequence 


L_CamSetPosition Unit conversion LenzeCamControl1 L_SdUnitToPos Position [unit] � position 

[increments] 

L_SdSetPosition Position [unit] (selected as 

parameter value) � position 

[increments] 

L_CamSetXAxisVelocity Extending & compressing 

the master value 

L_CamSetYAxisVelocity Extending & compressing 

the setpoint 

LenzeCamControl1 L_LdSetAxisVelocity Extension/compression of 

the X axis and 

synchronisation via touch 

probe. The master speed is 

integrated to the position 

within the cycle. 


L_CamVelocityFilter Filter (PT1) for speed signals LenzeCamControl2 L_TbPT1Filter PT1 filter 

L_CamVMasterPosition Virtual master with 

positioning function 

LenzeCamControl1 L_LdVirtualMasterP Virtual master with position 

reference 

L_CamVMasterVelocity Virtual master LenzeCamControl1 L_LdVirtualMasterV Virtual master with speed 

reference 

L_CanClose* Deactivation LenzeCanDrv - - 

L_CanDSxClose* Deactivate index mapping LenzeCanDSxDrv - - 

L_CanDSxCloseHeartBeat* Deactivate "Heartbeat" LenzeCanDSxDrv - - 

L_CanDSxCloseNodeGuardi 

ng* 

Deactivate "Node Guarding" LenzeCanDSxDrv - - 

L_CanDSxHeartBeat Execute "Heartbeat" LenzeCanDSxDrv - - 

L_CanDSxInitIndexCode* Configure index mapping LenzeCanDSxDrv - - 

L_CanDSxNodeGuarding Execute "Node Guarding" LenzeCanDSxDrv - - 

L_CanDSxOpen* Initialise CanDSx driver LenzeCanDSxDrv - - 

L_CanDSxOpenHeartBeat* Initialise "Heartbeat" LenzeCanDSxDrv - - 

L_CanDSxOpenNodeGuardi 

ng* 

Initialise "Node Guarding" LenzeCanDSxDrv - - 

L_CanGetRelocCobId* Query - COB-ID area LenzeCanDrv - - 

L_CanGetState* 


Driver status LenzeCanDrv - - 

30 1.4 EN - 08/2006 L






L_CanInit* Initialisation LenzeCanDrv - - 

L_CanPdoReceive Receive CAN object LenzeCanDrv - - 

L_CanPdoTransmit Transmit CAN object LenzeCanDrv - - 

L_CMP Comparison LenzeDrive.lib L_TbCompare Comparison 


L_CONV Normalisation LenzeDrive.lib L_TbGainLim Gain with limitation 


L_CONVPA Conversion of angle to 

analog 

LenzeDrive.lib - - 

L_CONVPP Conversion of phase signal LenzeDrive.lib - - 

L_CONVVV Conversion LenzeDrive.lib - - 

L_CONVX Scaling with limitation LenzeDrive.lib L_TbNormalize Signal scaling 

L_CURVE Characteristic function LenzeDrive.lib L_TbCurve Characteristic function 

L_DB Dead band LenzeDrive.lib L_TbDeadband Dead band 


L_DFRFG Digital frequency ramp 

function generator 

LenzeElectricalShaft - - 

L_DFSET Digital frequency 

processing 

LenzeElectricalShaft - - 

L_DIGDEL Binary delay element LenzeDrive.lib L_TbDelay Binary delay element 

L_DintToByteArray Type conversion LenzeDrive.lib - - 

L_Display9371BB Transparent mode with 

operating unit 9371BB 

LenzeDrive.lib - - 

L_DT1_ Differentiation LenzeDrive.lib L_TbDifferentiate Differentiator with low pass 

L_FCNT Up/downcounter LenzeDrive.lib L_TbCount Upcounter and 

downcounter with 

adjustable limitation. 

L_FIXSET Programming of fixed 

setpoints 

LenzeDrive.lib L_SdSpeedSet Ramp generator (ramp 

function generator) with Sshaped 

ramps, 

parameterisable fixed 

setpoints and 

comprehensive parameter 

setting and control options. 

L_FLIP D flipflop LenzeDrive.lib L_TbFlipFlopD D flipflop 


L_FUNCodeIndexConv Index of a code (function) LenzeDrive.lib - - 

L_FWM Error tripping LenzeDrive.lib L_DevApplErr Error tripping 

L_GEARCOMP Gearbox compensation LenzeElectricalShaft - - 

L_IOAInModule Signal conversion LenzeIOSystem - - 

L_IOAOutModule Signal conversion LenzeIOSystem - - 

L_IOCompactModule Coordinate data LenzeIOSystem - - 

L_IOConvByteArrayToByte Conversion function LenzeIOSystem - - 

L_IOConvByteToByteArray Conversion function LenzeIOSystem - - 

L_IOCounterDataFromIO Counter function LenzeIOSystem - - 

L_IOCounterDataToIO Counter function LenzeIOSystem - - 

L_IOCounterDIModuleData 

FromIO 

Counter function LenzeIOSystem - - 

L_IOCounterDIModuleData 

ToIO 

Counter function LenzeIOSystem - - 

L_IOData15 Coordinate data LenzeIOSystem - - 

L_IOData610 Coordinate data LenzeIOSystem - - 

L_IODInModule Bit conversion LenzeIOSystem - - 

L_IODOutModule Bit conversion LenzeIOSystem - - 

L_IOParAIAOModule 


Parameter function LenzeIOSystem - - 

L 1.4 EN - 08/2006 31






L_IOParAlnModule Parameter function LenzeIOSystem - - 

L_IOParAOutModule Parameter function LenzeIOSystem - - 

L_IOParComGuarding Monitoring function LenzeIOSystem - - 

L_IOParCompactModule Parameter function LenzeIOSystem - - 

L_IOParCounterDIModule Counter function LenzeIOSystem - - 

L_IOParCounterModule Counter function LenzeIOSystem - - 

L_IOParPDO15 Parameter function LenzeIOSystem - - 

L_IOParPDO610 Parameter function LenzeIOSystem - - 

L_IOParSSIModule Parameter function LenzeIOSystem - - 

L_IOSSIDataFromIO Counter function LenzeIOSystem - - 

L_IOSSIDataToIO Counter function LenzeIOSystem - - 

L_LIM Limit LenzeDrive.lib - - 

L_MCAutoResetInterface Process control LenzeMotionControl - - 

L_MCGetPosition Unit conversion LenzeMotionControl L_SdPosToUnit Position [increments] � 

position [unit] 

L_SdGetPosition Position [increments] � 

position [unit] (displayed as 

parameter value) 

L_MCGetVelocity Unit conversion LenzeMotionControl L_SdGetSpeed Speed � speed [unit/s] 

(displayed as parameter 

value) 

L_MCInterpolator Signal interpolation LenzeMotionControl - - 

L_MCMachineData Machine parameters LenzeMotionControl SB LS_DriveInterface The machine parameters for 

the drive/motor are set via 

the drive interface. 

L_SdSetAxisData Represented machine 

parameters of a master 

drive. 

L_MCPhiDiff Integration and subtraction 

of speed signals 

LenzeMotionControl L_TbDifferentiate Differentiator with low pass 

L_MCPhiIntegrator Integrator with TP set 

function 

L_MCPhiTrim Phase trimming is speeddependent 

L_MCPhiTrimTime Phase trimming is timedependent 

LenzeMotionControl L_SdIntegrate Integration (speed � 

position) 

L_TbIntegrate Integration with limitation 

LenzeMotionControl - - 

LenzeMotionControl - - 

L_MCPositionCorrection Feed correction LenzeMotionControl - - 

L_MCProfileGenerator Profile generator LenzeMotionControl - - 

L_MCResidualDistance Residual path calculation LenzeMotionControl - - 

L_MCSetAcceleration Unit conversion LenzeMotionControl - - 

L_MCSetDeceleration Unit conversion LenzeMotionControl - - 

L_MCSetPosition Unit conversion LenzeMotionControl - - 

L_MCSetProfileConverter Unit conversion LenzeMotionControl - - 

L_MCSetProfileValues Unit conversion LenzeMotionControl - - 

L_MCSetVelocity Unit conversion LenzeMotionControl - - 

L_MCSignalDerive Signal differentiation LenzeMotionControl - - 

L_MCSwitchCam Switching points LenzeMotionControl - - 

L_MCSwitchPoint Switching points LenzeMotionControl L_SdSwitchPoint Position switch points 

(cams) 

L_MCTouchProbeCtrl Touch probe pre-processing LenzeMotionControl L_SdTouchProbe Touch probe processing 

L_MemClearFlash* Delete flash memory 

segment 

LenzeMemDrv - - 

L_MemCopyFromRam* Copy data from RAM into 

variable memory 

L_MemCopyToRam* Copy data from variable 

memory into RAM 




32 1.4 EN - 08/2006 L






L_MemGetStateDriver* Driver status LenzeMemDrv - - 

L_MemGetStateOfMemory PLC memory status LenzeMemDrv - - 

L_MemLoadRamFromFlash* Copy data from flash 

memory into RAM 


L_MemReadDINT* Read DINT value out of RAM LenzeMemDrv - - 

L_MemReadDWORD* Read DWORD value out of 

RAM 


L_MemReadINT* Read INT value out of RAM LenzeMemDrv - - 

L_MemReadWORD* Read WORD value out of 

RAM 


L_MemSaveRamToFlash* Copy data from RAM into 

flash memory 


L_MemWriteDINT* Write DINT value into RAM LenzeMemDrv - - 

L_MemWriteDWORD* Write DWORD value into 

RAM 


L_MemWriteINT Write INT value into RAM LenzeMemDrv - - 

L_MemWriteWORD* Write WORD value into RAM LenzeMemDrv - - 

L_MFAIL Mains failure control Lenze9300Servo.lib - - 

L_MPOT Motor potentiometer LenzeDrive.lib - - 

L_NOT NOT LenzeDrive.lib L_TbNot Negation (inverter) 

L_NSET Speed pre-processing LenzeDrive.lib L_SdSpeedSet Ramp generator (ramp 


ramps, 


setpoints and 



L_OR OR LenzeDrive.lib L_TbOr OR (2 inputs) 


L_ParRead Reading of codes LenzeDrive.lib - - 

L_ParWrite Writing of codes LenzeDrive.lib - - 

L_PCTRL Process controller LenzeDrive.lib - - 

L_PHADD Addition LenzeDrive.lib L_TbAdd Addition without limitation 


L_PHCMP Comparison LenzeDrive.lib L_TbCompare Comparison 


L_PHDIFF Difference LenzeDrive.lib L_TbDifferentiate Differentiator with low pass 

L_PHDIV Division LenzeDrive.lib L_TbDiv Division with remainder 



L_PHINT Integration LenzeDrive.lib L_SdIntegrate Integration (speed � 

position) 

L_PHINTK Integration LenzeDrive.lib L_SdIntegrate Integration (speed � 

position) 

L_PT1_ Deceleration LenzeDrive.lib L_TbPT1Filter PT1 filter 

L_REF Homing function LenzeElectricalShaft SB LS_Homing Basic function "Homing" 

L_RFG Ramp function generator LenzeDrive.lib L_SdRampGenerator Ramp generator (ramp 


ramps. 

L_SdSpeedSet Ramp generator (ramp 


ramps, 


setpoints and 



L_RLQ Right/left quick stop LenzeDrive.lib - - 

L_Rs232Close Deactivation (function) LenzeFpiDrv - - 

L_Rs232GetReceiveState 


Receive status (function) LenzeFpiDrv - - 

L 1.4 EN - 08/2006 33






L_Rs232GetSendState Transmit status (function) LenzeFpiDrv - - 

L_Rs232Open Initialisation (function) LenzeFpiDrv - - 

L_Rs232ReceiveData Receiving data (function) LenzeFpiDrv - - 

L_Rs232SendData Transmitting data 

(function) 

LenzeFpiDrv - - 

L_SH Sample & Hold LenzeDrive.lib L_TbSampleHold Sample & Hold 

L_SRFG Ramp function generator 

with S ramp 

LenzeDrive.lib L_SdRampGenerator Ramp generator (ramp 


ramps. 

L_SdSpeedSet Ramp generator (ramp 


ramps, 


setpoints and 



L_TBConvBitsToByte* BOOL (8 x) � BYTE LenzePLCToolBox L_DcBitsToByte BOOL (8 x) � BYTE 

L_TBConvBitsToDword* BOOL (32 x) � DWORD LenzePLCToolBox L_DcBitsToDWord BOOL (32 x) � DWORD 

L_TBConvBitsToWord* BOOL (16 x) � WORD LenzePLCToolBox L_DcBitsToWord BOOL (16 x) � WORD 

L_TBConvByteToBits BYTE � BOOL (8 x) LenzePLCToolBox L_DcByteToBits BYTE � BOOL (8 x) 

L_TBConvCharToByte* ASCII character � ASCII code LenzePLCToolBox - - 

L_TBConvDwordToBits DWORD � BOOL (32 x) LenzePLCToolBox L_DcDWordToBits DWORD � BOOL (32 x) 

L_TBConvWordToBits WORD � BOOL (16 x) LenzePLCToolBox L_DcWordToBits WORD � BOOL (16 x) 

L_TBGetBitOfByte* Outputs a bit of a BYTE value LenzePLCToolBox L_DcGetBitOfByte Outputs a bit of a BYTE value 

L_TBGetBitOfDword* Outputs a bit of a DWORD LenzePLCToolBox L_DcGetBitOfDWord Outputs a bit of a DWORD 

value 

value 

L_TBGetBitOfWord* Outputs a bit of a WORD 

value 

LenzePLCToolBox - - 

L_TBResetBitOfByte* Resets a bit of a BYTE value 

to "0". 

L_TBResetBitOfDword* Resets a bit of a DWORD 

value to "0". 

L_TBResetBitOfWord* Resets a bit of a WORD value 

to "0". 

L_TBSetBitOfByte* Sets a bit of a BYTE value to 

"1". 

L_TBSetBitOfDword* Sets a bit of a DWORD value 

to "1". 

L_TBSetBitOfWord* Sets a bit of a WORD value 

to "1". 

L_TBSquareWave Rectangular pulse generator 

with variable pulse/dead 

time. 

L_TpConfigDigInX Configures a touch probe 

input (function) 

L_TpGetLastScanDigIn1...4 Provides touch-probe 

signals 

LenzePLCToolBox L_DcResetBitOfByte Resets a bit of a BYTE value 

to "0". 

LenzePLCToolBox L_DcResetBitOfDWord Resets a bit of a DWORD 

value to "0". 

LenzePLCToolBox L_DcResetBitOfWord Resets a bit of a WORD value 

to "0". 

LenzePLCToolBox L_DcSetBitOfByte Sets a bit of a BYTE value to 

"1". 

LenzePLCToolBox L_DcSetBitOfDWord Sets a bit of a DWORD value 

to "1". 

LenzePLCToolBox L_DcSetBitOfWord Sets a bit of a WORD value 

to "1". 

LenzePLCToolBox L_TbOscillator Rectangular pulse generator 

with parameterisable 

pulse/dead time. 

LenzeTpDrv - - 

LenzeTpDrv L_SdTouchProbe Touch probe processing 

L_TRANS Edge evaluation LenzeDrive.lib L_TbTransition Signal edge evaluation 

L_WndAccTorque Acceleration compensation LenzeWinder - - 

L_WndCalcDiameter Diameter calculation LenzeWinder - - 

L_WndCalcLength Length calculation LenzeWinder - - 

L_WndCalcThickness Thickness calculation LenzeWinder - - 

L_WndConvActPos Actual dancer value 

conditioning 

LenzeWinder - - 

L_WndConvMSet Torque setpoint converter LenzeWinder - - 

L_WndConvNSet Speed setpoint converter LenzeWinder - - 

L_WndFrictionCurve Friction compensation LenzeWinder - - 

L_WndGearRatio 


Gearbox factor changeover LenzeWinder - - 

34 1.4 EN - 08/2006 L

L_WndIdentFriction Identification of the friction 

characteristic 

L_WndIdentMInertia Identification of the 

moment of inertia 








L_WndMInertia Mass inertia calculation LenzeWinder - - 

L_WndProcessCtrl Dancer / tension control LenzeWinder - - 

L_WndStopCtrl Stop controller LenzeWinder - - 

L_WndTensionCurve 


Tensile force characteristic LenzeWinder - - 

L 1.4 EN - 08/2006 35



FB reference list - 9300 servo inverter 

3.13 FB reference list - 9300 servo inverter 

The following reference list shall assist you in finding the correct function block to simulate 

a function known from the 9300 servo inverter. 

Function block for 9300 servo inverter Function block for 9400 Servo Drives 

Name Description Name Description 

ABS Absolute value generator L_TbAbs Absolute value generation 

ADD Addition block L_TbAdd Addition without limitation 


AIF-IN Fieldbus - - 

AIF-OUT Fieldbus - - 

AIN Analog inputs SB LS_AnalogInput Analog inputs 

AND AND L_TbAnd AND (2 inputs) 

L_Tb5And AND (5 inputs) 

ANEG Analog inverter L_TbNeg Sign inversion 

AOUT Analog outputs SB LS_AnalogOutput Analog outputs 

ARIT Arithmetic block L_TbAdd Addition without limitation 



L_TbDiv_n Division divisor selected as scaled 

signal [%] 



multiplicand selected as scaled 

signal [%] 




ARITPH 32 bit arithmetic block L_TbAdd Addition without limitation 




signal [%] 



multiplicand selected as scaled 

signal [%] 




ASW Analog change-over switch L_Tb8Select 1-from-8-selector 


BRK Holding brake control SB LS_Brake Basic function "Brake control" 

CAN-IN System bus Network configuration in the »Engineer«, interconnection via ports in the 

CAN-OUT 

machine application. 

CMP Comparator L_TbCompare Comparison 


CONV Conversion L_TbGainLim Gain with limitation 


CONVPHA 32 bit conversion - - 

CONVPHPH 32 bit conversion - - 

CONVPP 32 bit/16 bit conversion - - 

CURVE Characteristic function L_TbCurve Characteristic function 

DB Dead band L_TbDeadband Dead band 


36 1.4 EN - 08/2006 L






DCTRL Device control SB LS_DriveInterface Drive interface 

DFIN Digital frequency input SB LS_DigitalFrequencyInput Digital frequency input 

DFOUT Digital frequency output SB LS_DigitalFrequencyOutput Digital frequency output 

DFRFG Digital frequency ramp function 

generator 

- - 

DFSET Digital frequency processing - - 

DIGDEL Binary delay element L_TbDelay Binary delay element 

DIGIN Digital inputs SB LS_DigitalInput Digital inputs 

DIGOUT Digital outputs SB LS_DigitalOutput Digital outputs 

DT1-1 Derivative-action element L_TbDifferentiate Differentiator with low pass 

FCNT Piece number L_TbCount Upcounter and downcounter with 

adjustable limitation. 

FEVAN Free analog input variable - - 

FDO Free digital outputs - - 

FIXED Constant signals - - 

FIXSET Fixed setpoints L_SdSpeedSet Ramp generator (ramp function 

generator) with S-shaped ramps, 

parameterisable fixed setpoints 

and comprehensive parameter 


FLIP D flipflop L_TbFlipFlopD D flipflop 


GEARCOMP Gearbox torsion - - 

LIM Limiter L_TbLimit Signal limitation 

L_TbLimit_n Signal limitation (scaled) 

MCTRL Motor control SB LS_MotorInterface Motor interface 

MFAIL Mains failure control - - 

MLP Motor phase failure detection - - 

MONIT Monitoring - - 

MPOT Motor potentiometer - - 

NOT NOT L_TbNot Negation (inverter) 

NSET Speed setpoint conditioning L_SdSpeedSet Ramp generator (ramp function 





OR OR L_TbOr OR (2 inputs) 


OSZ Oscilloscope function - - 

PCTRL Process controller - - 

PHADD 32 bit addition block L_TbAdd Addition without limitation 


PHCMP Comparator L_TbCompare Comparison 


PHDIFF 32 bit setpoint/actual value 

comparison 

L_TbDifferentiate Differentiator with low pass 

PHDIV Conversion L_TbDiv Division with remainder 


signal [%] 

PHINT Phase integrator L_SdIntegrate Integration (speed � position) 

PT1-1 First-order delay element L_TbPT1Filter PT1 filter 

R/L/Q QSP / setpoint inversion - - 

REF Homing function SB LS_Homing Basic function "Homing" 

L 1.4 EN - 08/2006 37






RFG Ramp function generator L_SdRampGenerator Ramp generator (ramp function 

generator) with S-shaped ramps. 

L_SdSpeedSet Ramp generator (ramp function 





S&H Sample & Hold L_TbSampleHold Sample & Hold 

SRFG S shaped ramp function generator L_SdRampGenerator Ramp generator (ramp function 

generator) with S-shaped ramps. 

L_SdSpeedSet Ramp generator (ramp function 





STAT Digital status signals L_DevDriveInterfaceStateDecoder Status signals of the drive interface 

L_DevManualJogStateDecoder Status signals of the basic function 

"Manual jog" 

L_DevHomingStateDecoder Status signals of the basic function 

"Homing" 

L_PosDecoderStatePositioner Status signals of the basic function 

"Positioning" 

L_DevLimiterStateDecoder Status signals of the basic function 

"Limiter" 

L_DevBrakeStateDecoder Status signals of the basic function 

"Brake control" 

L_PosDecoderStateSequencer Status signals of the sequence 

control (FB L_PosSequencer) 

L_LdStateDecoder Status signals of the FBs of the 

function library "LenzeLineDrive.lib" 

STATE-BUS Statebus SB LS_DigitalInput Digital inputs 

SB LS_DigitalOutput Digital outputs 

STORE Memory - - 

SYNC Multi-axis positioning - - 

TRANS Binary edge evaluation L_TbTransition Signal edge evaluation 

38 1.4 EN - 08/2006 L

4 Function blocks 


Function blocks 

This chapter describes all function blocks (FBs) that are provided by the »Engineer« 

function block editor for the "9400 Servo Drives". 

� Note! 

The grayed out area at the beginning of each FB description informs you which 

function library contains the corresponding FB and which "9400 Servo Drives" 

can be used with the FB. 

L 1.4 EN - 08/2006 39



L_Dc2BytesToWord - Data type conversion 

4.1 L_Dc2BytesToWord - Data type conversion 

Function library: LenzeDataConversion 

FB available for: � 9400 StateLine � 9400 HighLine � 9400 TopLine 

Runtime software license: � Motion Control StateLevel � Motion Control HighLevel � Motion Control TopLevel � PLC 

This FB converts two input values of type "BYTE" into an output value of type "WORD". 

Inputs 

Identifier/data type Information/possible settings 

byInput1 

Input value 1 ≡ bit 0 ... bit 7 of wOutput 

BYTE 

byInput2 

Input value 2 ≡ bit 8 ... bit 15 of wOutput 

BYTE 

Outputs 

byInput1 

byInput2 

L_Dc2BytesToWord 

wOutput 

Identifier/data type Value/meaning 

wOutput 

Value of type "word" corresponding to the transmitted input values 

WORD 

40 1.4 EN - 08/2006 L

4.2 L_Dc2WordsToDWord - Data type conversion 




L_Dc2WordsToDWord - Data type conversion 



This FB converts two input values of type "WORD" into an output value of type "DWORD". 

Inputs 


wInput1 

Input value 1 ≡ bit 0 ... bit 15 of dwOutput 

WORD 

wInput2 


WORD 

Outputs 

wInput1 

wInput2 

L_Dc2WordsToDWord 

dwOutput 


dwOutput 

Value of type "double word" corresponding to the transmitted input values 

DWORD 

L 1.4 EN - 08/2006 41



L_Dc4BytesToDWord - Data type conversion 

4.3 L_Dc4BytesToDWord - Data type conversion 




This FB converts four input values of type "BYTE" into an output value of type "DWORD". 

Inputs 


byInput1 


BYTE 

byInput2 


BYTE 

byInput3 


BYTE 

byInput4 


BYTE 

Outputs 

byInput1 

byInput2 

byInput3 

byInput4 

L_Dc4BytesToDWord 

dwOutput 


dwOutput 

Value of type "double word" corresponding to the transmitted input values 

DWORD 

42 1.4 EN - 08/2006 L

4.4 L_DcBitShift - Shift operation 





L_DcBitShift - Shift operation 


This FB carries out a bit shift operation with a "DINT" value. 

� The shift factor, i.e. the number of bits by which the input value is shifted to the left or 

right, is defined by a parameter. 

� The result of the shift operation is output a the output dnOut. 

� The sign remains. 

Inputs 


dnIn 

Input signal 

DINT 

Outputs 


dnOut 

Output signal according to the parameterised bit shift operation 

DINT 

Parameters 

Parameters Possible settings Information 

C04190 -31 31 Shift factor 

• Initialisation: 0 

Example 

Bit 31 

Bit 31 

dnIn 

dnIn 

0 0 

Bit 0 

Bit 0 

dnOut 

L_DcBitShift 

0 1 0 1 0 0 

Bit 31 Bit 0 

0 0 1 0 1 0 

L 1.4 EN - 08/2006 43 

dnOut 

Shift factor = +2 Shift factor = -3 

dnIn 

Bit 31 

Bit 31 

Bit 0 

Bit 0 

dnOut



L_DcBitsToByte - Bit multiplexer 

4.5 L_DcBitsToByte - Bit multiplexer 




This FB converts 8 single bit values into a value of type "byte". 

Inputs 


bBit0 

Input for bit value with valency 2 

BOOL 

0 

... ... 

bBit7 


BOOL 

Outputs 

bBit0 

bBit1 

bBit2 

bBit3 

bBit4 

bBit5 

bBit6 

bBit7 

L_DcBitsToByte 


byOutput 

Value of type "byte" corresponding to the transmitted bit values 

BYTE 

44 1.4 EN - 08/2006 L 

0 

1 

2 

3 

4 

5 

6 

7 

BYTE 

byOutput

4.6 L_DcBitsToDWord - Bit multiplexer 



This FB converts 32 single bit values into a value of "DWORD" type. 

Inputs 



L_DcBitsToDWord - Bit multiplexer 


bBit0 

bBit1 

bBit2 

bBit3 

bBit4 

bBit5 

bBit6 

bBit7 

bBit8 

bBit9 

bBit10 

bBit11 

bBit12 

bBit13 

bBit14 

bBit15 

bBit16 

bBit17 

bBit18 

bBit19 

bBit20 

bBit21 

bBit22 

bBit23 

bBit24 

bBit25 

bBit26 

bBit27 

bBit28 

bBit29 

bBit30 

bBit31 

L_DcBitsToDWord 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

DWORD 


bBit0 


BOOL 

0 

... ... 

bBit31 


BOOL 

dwOutput 

L 1.4 EN - 08/2006 45



L_DcBitsToDWord - Bit multiplexer 

Outputs 


dwOutput 

Value of type "double word" corresponding to the transmitted bit values 

DWORD 

46 1.4 EN - 08/2006 L

4.7 L_DcBitsToWord - Bit multiplexer 



This FB converts 16 single bit values into a value of "WORD" type. 

Inputs 

Outputs 



L_DcBitsToWord - Bit multiplexer 


bBit0 

bBit1 

bBit2 

bBit3 

bBit4 

bBit5 

bBit6 

bBit7 

bBit8 

bBit9 

bBit10 

bBit11 

bBit12 

bBit13 

bBit14 

bBit15 

L_DcBitsToWord 


bBit0 


BOOL 

0 

... ... 

bBit15 


BOOL 


wOutput 

Value of "word" type corresponding to the transmitted bit values. 

WORD 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

WORD 

wOutput 

L 1.4 EN - 08/2006 47



L_DcByteToBits - Bit demultiplexer 

4.8 L_DcByteToBits - Bit demultiplexer 




This FB outputs the 8 corresponding bit values for an input value of type "byte". 

Inputs 


byInput 

Value to be converted 

BYTE 

Outputs 

byInput 

L_DcByteToBits 

BYTE 


bBit0 

Bit 0 output of byInput (valency: 2 

BOOL 

0 ) 

bBit1 

Bit 1 output of byInput (valency: 21) 

BOOL 

bBit2 


BOOL 

... ... 

bBit7 


BOOL 

48 1.4 EN - 08/2006 L 

0 

1 

2 

3 

4 

5 

6 

7 

bBit0 

bBit1 

bBit2 

bBit3 

bBit4 

bBit5 

bBit6 

bBit7

4.9 L_DcByteToWord - Type converter 



This FB converts a data type "BYTE" into the data type "WORD". 

Inputs 

Outputs 

Function 



L_DcByteToWord - Type converter 



byIn 

Input signal 

BYTE 


wOut 

Output signal 

WORD 

Bit 15 

byIn 

0 0 0 0 0 0 0 0 

L_DcByteToWord 

BYTE � WORD 

L 1.4 EN - 08/2006 49 

Bit 7 

BYTE 

wOut 

Bit 0 

Bit 0 

WORD



L_DcDIntToDWord - Type converter 

4.10 L_DcDIntToDWord - Type converter 




This FB converts a data type "DINT" into the data type "DWORD". 

Inputs 


dnIn 

Input signal 

DINT 

Outputs 

dnIn 


dwOut 

Output signal 

DWORD 

L_DcDIntToDWord 

DINT � DWORD 

50 1.4 EN - 08/2006 L 

dwOut

4.11 L_DcDIntToInt - Type converter 



This FB converts a data type "DINT" into the data type "INT". 

Inputs 

Outputs 

Function 



L_DcDIntToInt - Type converter 



dnIn 

Input signal 

DINT • Internal limitation to -32768 ... +32767 (INT display area). 


nOut 

Output signal 

INT 

Bit 31 

DINT (-32768 ... +32767 dec) 

± 

dnIn 

L_DcDIntToInt 

DINT � INT 

L 1.4 EN - 08/2006 51 

Bit 15 

± 

nOut 

Bit 0 

Bit 0 

INT



L_DcDWordBitand - Bit combination 

4.12 L_DcDWordBitand - Bit combination 




This FB carries out a bit-by-bit AND operation of two input values of "DWORD" type and 

also outputs the results as "DWORD". 

Inputs 


dwIn1 

Value 1 for bit-by-bit AND combination 

DWORD 

dwIn2 

Value 2 for bit-by-bit AND combination 

DWORD 

Outputs 


dwOut 

Result of the bit-by bit AND operation of dwIn1 and dwIn2 

DWORD 

Function 

Example 

dwIn1 

dwIn2 

dwIn1 - bit n dwIn2 - bit n dwOut - bit n 

0 0 0 

0 1 0 

1 0 0 

1 1 1 

dwIn1 = 00011001010011100001011000101000 

dwIn2 = 01010001100001100100100001111000 

-------------------------------dwOut 

= 00010001010001100000000000101000 

L_DcDWordBitand 

1 0 0 0 1 1 

Bit 31 Bit 0 

0 1 0 1 1 0 

0 0 0 0 1 0 

52 1.4 EN - 08/2006 L 

& 

dwOut

4.13 L_DcDWordBitor - Bit combination 





L_DcDWordBitor - Bit combination 


This FB carries out a bit-by-bit OR operation of two input values of "DWORD" type and also 

outputs the results as "DWORD". 

Inputs 


dwIn1 

Value 1 for bit-by-bit OR combination 

DWORD 

dwIn2 

Value 2 for bit-by-bit OR combination 

DWORD 

Outputs 


dwOut 

Result of the bit-by bit OR operation of dwIn1 and dwIn2 

DWORD 

Function 

Example 

dwIn1 

dwIn2 


0 0 0 

0 1 1 

1 0 1 

1 1 1 

dwIn1 = 00011001010011100001011000101000 

dwIn2 = 01010001100001100100100001111000 

-------------------------------dwOut 

= 01011001110011100101111001111000 

L_DcDWordBitor 

1 0 0 0 1 1 

Bit 31 Bit 0 

0 1 0 1 1 0 

1 1 0 1 1 1 

L 1.4 EN - 08/2006 53 

1 

dwOut



L_DcDWordBitxor - Bit combination 

4.14 L_DcDWordBitxor - Bit combination 




This FB carries out a bit-by-bit EXCLUSIVE OR operation of two input values of "DWORD" 

type and also outputs the results as "DWORD". 

Inputs 


dwIn1 

Value 1 for bit-by-bit EXCLUSIVE OR combination 

DWORD 

dwIn2 

Value 2 for bit-by-bit EXCLUSIVE OR combination 

DWORD 

Outputs 


dwOut 

Result of the bit-by bit EXCLUSIVE OR operation of dwIn1 and dwIn2 

DWORD 

Function 

Example 

dwIn1 

dwIn2 


0 0 0 

0 1 1 

1 0 1 

1 1 0 

dwIn1 = 00011001010011100001011000101000 

dwIn2 = 01010001100001100100100001111000 

-------------------------------dwOut 

= 01001000110010000101111001010000 

L_DcDWordBitxor 

1 0 0 0 1 1 

Bit 31 Bit 0 

0 1 0 1 1 0 

1 1 0 1 0 1 

54 1.4 EN - 08/2006 L 

1 

dwOut

4.15 L_DcDWordTo2Words - Data type conversion 




L_DcDWordTo2Words - Data type conversion 



This FB converts an input value of type "DWORD" into two output values of type "WORD". 

Inputs 


dwInput 

Input value 

DWORD 

Outputs 

dwInput 

L_DcDWordTo2Words 

wOutput1 

wOutput2 


wOutput1 

Output value 1 ≡ bit 0 ... bit 15 of dwInput 

WORD 

wOutput2 


WORD 

L 1.4 EN - 08/2006 55



L_DcDWordTo4Bytes - Data type conversion 

4.16 L_DcDWordTo4Bytes - Data type conversion 




This FB converts an input value of type "DWORD" into four output values of type "BYTE". 

Inputs 


dwInput 

Input value 

DWORD 

Outputs 

dwInput 

L_DcDWordTo4Bytes 

byOutput1 

byOutput2 

byOutput3 

byOutput4 


byOutput1 


BYTE 

byOutput2 


BYTE 

byOutput3 


BYTE 

byOutput4 


BYTE 

56 1.4 EN - 08/2006 L

4.17 L_DcDWordToBits - Bit demultiplexer 





L_DcDWordToBits - Bit demultiplexer 


This FB outputs the 32 corresponding bit values for an input value of "DWORD" type. 

Inputs 

dwInput 

L_DcDWordToBits 

DWORD 


dwInput 


DWORD 

L 1.4 EN - 08/2006 57 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

bBit0 

bBit1 

bBit2 

bBit3 

bBit4 

bBit5 

bBit6 

bBit7 

bBit8 

bBit9 

bBit10 

bBit11 

bBit12 

bBit13 

bBit14 

bBit15 

bBit16 

bBit17 

bBit18 

bBit19 

bBit20 

bBit21 

bBit22 

bBit23 

bBit24 

bBit25 

bBit26 

bBit27 

bBit28 

bBit29 

bBit30 

bBit31



L_DcDWordToBits - Bit demultiplexer 

Outputs 


bBit0 

Bit 0 output of dwInput (valency: 2 

BOOL 

0 ) 

bBit1 


BOOL 

1 ) 

bBit2 


BOOL 

2 ) 

... ... 

bBit31 


BOOL 

31 ) 

58 1.4 EN - 08/2006 L

4.18 L_DcDWordToDInt - Type converter 



This FB converts a data type "DWORD" into the data type "DINT". 

Inputs 

Outputs 



L_DcDWordToDInt - Type converter 


dwIn 


dwIn 

Input signal 

DWORD 


dnOut 

Output signal 

DINT 

L_DcDWordToDInt 

DWORD � DINT 

L 1.4 EN - 08/2006 59 

dnOut



L_DcDWordToWord - Type converter 

4.19 L_DcDWordToWord - Type converter 




This FB converts a data type "DWORD" into the data type "WORD". 

Inputs 


dwIn 

Input signal 

DWORD 

Outputs 


wOut 

Output signal 

WORD 

Function 

Bit 31 

DWORD 

dwIn 

L_DcDWordToWord 

DWORD � WORD 

60 1.4 EN - 08/2006 L 

Bit 15 

wOut 

Bit 0 

Bit 0 

WORD

4.20 L_DcGetBitOfByte - Bit operation 



This FB returns the state of a single bit within a "BYTE" value. 

Inputs 

Outputs 



L_DcGetBitOfByte - Bit operation 


byInput 

byBitNr 

L_DcGetBitOfByte 


byInput 

Input signal 

BYTE 

byBitNr 

No. (0 ... 7) of the bit of byInput the state of which is to be detected. 

BYTE 


bBit 

State of bit byBitNr of byInput. 

BOOL 

L 1.4 EN - 08/2006 61 

bBit



L_DcGetBitOfDWord - Bit operation 

4.21 L_DcGetBitOfDWord - Bit operation 


Function available for: � 9400 StateLine � 9400 HighLine � 9400 TopLine 


This FB returns the state of a single bit within a "DWORD" value. 

Inputs 


dwInput 

Input signal 

DWORD 

byBitNr 

No. (0 ... 31) of the bit of dwInput the state of which is to be detected. 

BYTE 

Outputs 

dwInput 

byBitNr 

L_DcGetBitOfDWord 


bBit 

State of bit byBitNr of dwInput. 

BOOL 

62 1.4 EN - 08/2006 L 

bBit

4.22 L_DcGetBitOfWord - Bit operation 



This FB returns the state of a single bit within a "WORD" value. 

Inputs 

Outputs 



L_DcGetBitOfWord - Bit operation 


wInput 

byBitNr 

L_DcGetBitOfWord 


wInput 

Input signal 

WORD 

byBitNr 

No. (0 ... 15) of the bit of wInput the state of which is to be detected. 

BYTE 


bBit 

State of bit byBitNr of wInput. 

BOOL 

L 1.4 EN - 08/2006 63 

bBit



L_DcIntToDInt - Type converter 

4.23 L_DcIntToDInt - Type converter 




This FB converts a data type "INT" into the data type "DINT". 

Inputs 


nIn 

Input signal 

INT 

Outputs 


dnOut 

Output signal 

DINT 

Function 

Bit 31 

nIn 

L_DcIntToDInt 

INT � DINT 

64 1.4 EN - 08/2006 L 

Bit 15 

± ± ± ± ± ± ± ± ± ± ± ± ± ± ± ± ± 

INT 

± 

dnOut 

Bit 0 

Bit 0 

DINT

4.24 L_DcIntToWord - Type converter 



This FB converts a data type "INT" into the data type "WORD" . 

Inputs 

Outputs 



L_DcIntToWord - Type converter 



nIn 

Input signal 

INT 

nIn 


wOut 

Output signal 

WORD 

L_DcIntToWord 

INT � WORD 

L 1.4 EN - 08/2006 65 

wOut



L_DcNorm_aToNorm_n - Signal converter 

4.25 L_DcNorm_aToNorm_n - Signal converter 




This FB converts a scaled 16-bit signal into a scaled 32-bit signal. 

Inputs 


nIn_a 

Input signal 

INT • 100 % ≡ 2 14 ≡ 16384 

Outputs 


dnOut_n 

Output signal 

DINT • 100 % ≡ 230 ≡ 1073741824 

Function 

Bit 15 ± 

Bit 31 

nIn_a 

nIn_a 

L_DcNorm_aToNorm_n 

[%] 16 Bit � [%] 32 Bit 

dnOut_n 

± 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

66 1.4 EN - 08/2006 L 

Bit 0 

dnOut_n 

Bit 0

4.26 L_DcNorm_nToNorm_a - Signal converter 


This FB converts a scaled 32-bit signal into a scaled 16-bit signal. 

Inputs 

Outputs 

Function 



L_DcNorm_nToNorm_a - Signal converter 




dnIn_n 

Input signal 

DINT • 100 % ≡ 2 30 ≡ 1073741824 


nOut_a 

Output signal 

INT • 100 % ≡ 214 ≡ 16384 

Bit 31 

Bit 15 

dnIn_n 

± 

± 

dnIn_n 

L_DcNorm_nToNorm_a 

[%] 32 Bit � [%] 16 Bit 

Bit 0 

nOut_a 

L 1.4 EN - 08/2006 67 

nOut_a 

Bit 0



L_DcNorm_nToSpeed_s - Signal converter 

4.27 L_DcNorm_nToSpeed_s - Signal converter 




This FB uses the transmitted machine parameters and converts a scaled 32-bit signal into 

a 32-bit speed signal. 

Inputs 


dnIn_n 

Input signal in [%] 

DINT • 100 % ≡ 2 30 ≡ 1073741824 

AxisData Machine parameters 

• For accepting the machine parameters of the drive/motor, connect this input 

with the output DI_AxisData of the SB LS_DriveInterface. 

• The machine parameters of a master drive can be displayed with the 

FB L_SdSetAxisData. In this case the FB output AxisData must be connected with 

this input. (� 217) 

Outputs 

dnIn_n 

AxisData 

L_DcNorm_nToSpeed_s 

[%] 32 Bit � [rpm] 32 Bit 


dnOut_s 

Output signal in [rpm] 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 

dnOut_s 

68 1.4 EN - 08/2006 L

4.28 L_DcResetBitOfByte - Bit operation 



This FB resets a single bit in a "BYTE" type value to "0". 

Inputs 

Outputs 



L_DcResetBitOfByte - Bit operation 


byInput 

byBitNr 

L_DcResetBitOfByte 


byInput 

Input signal 

BYTE 

byBitNr 

No. (0 ... 7) of the bit to be reset. 

BYTE 

byOutput 


byOutput 

Value of type "byte" resulting from the reset bit. 

BYTE 

L 1.4 EN - 08/2006 69



L_DcResetBitOfDWord - Bit operation 

4.29 L_DcResetBitOfDWord - Bit operation 




This FB resets a single bit in a "DWORD" type value to "0". 

Inputs 


dwInput 

Input signal 

DWORD 

byBitNr 


BYTE 

Outputs 

dwInput 

byBitNr 

L_DcResetBitOfDWord 

dwOutput 


dwOutput 

Value of type "double word" resulting from the reset bit. 

DWORD 

70 1.4 EN - 08/2006 L

4.30 L_DcResetBitOfWord - Bit operation 



This FB resets a single bit in a "WORD" type value to "0". 

Inputs 

Outputs 



L_DcResetBitOfWord - Bit operation 


wInput 

byBitNr 

L_DcResetBitOfWord 


wInput 

Input signal 

WORD 

byBitNr 


BYTE 

wOutput 


wOutput 

Value of type "word" resulting from the reset bit. 

WORD 

L 1.4 EN - 08/2006 71



L_DcSetBitOfByte - Bit operation 

4.31 L_DcSetBitOfByte - Bit operation 




This FB sets a single bit in a "BYTE" type value to "1". 

Inputs 


byInput 

Input signal 

BYTE 

byBitNr 

No. (0 ... 7) of the bit to be set. 

BYTE 

Outputs 

byInput 

byBitNr 

L_DcSetBitOfByte 

byOutput 


byOutput 

Value of type "byte" resulting from the set bit. 

BYTE 

72 1.4 EN - 08/2006 L

4.32 L_DcSetBitOfDWord - Bit operation 



This FB sets a single bit in a "DWORD" type value to "1". 

Inputs 

Outputs 



L_DcSetBitOfDWord - Bit operation 


dwInput 

byBitNr 

L_DcSetBitOfDWord 


dwInput 

Input signal 

DWORD 

byBitNr 


BYTE 

dwOutput 


dwOutput 

Value of type "double word" resulting from the set bit. 

DWORD 

L 1.4 EN - 08/2006 73



L_DcSetBitOfWord - Bit operation 

4.33 L_DcSetBitOfWord - Bit operation 




This FB sets a single bit in a "WORD" type value to "1". 

Inputs 


wInput 

Input signal 

WORD 

byBitNr 


BYTE 

Outputs 

wInput 

byBitNr 

L_DcSetBitOfWord 

wOutput 


wOutput 

Value of type "word" resulting from the set bit. 

WORD 

74 1.4 EN - 08/2006 L

4.34 L_DcSpeed_sToNorm_n - Signal converter 




L_DcSpeed_sToNorm_n - Signal converter 



This FB uses the transmitted machine parameters and converts a 32-bit speed signal into 

a scaled 32-bit signal. 

Inputs 


dnIn_s 

Input signal in [rpm] 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 







Outputs 

dnIn_s 

AxisData 

L_DcSpeed_sToNorm_n 

[rpm] 32 Bit � [%] 32 Bit 


dnOut_n 

Output signal in [%] 

DINT • 100 % ≡ 2 30 ≡ 1073741824 

dnOut_n 

L 1.4 EN - 08/2006 75



L_DcSpeed_sToSpeed_v - Signal converter 

4.35 L_DcSpeed_sToSpeed_v - Signal converter 






Inputs 


dnIn_s 


DINT • 15000 rpm ≡ 2 26 ≡ 67108864 







Outputs 

dnIn_s 

AxisData 

L_DcSpeed_sToSpeed_v 

[rpm] 32 Bit [rpm] 16 Bit 

� 


nOut_v 


DINT • 15000 rpm ≡ 214 ≡ 16384 

76 1.4 EN - 08/2006 L 

nOut_v

4.36 L_DcSpeed_vToSpeed_s - Signal converter 




L_DcSpeed_vToSpeed_s - Signal converter 





Inputs 


nIn_v 


INT • 15000 rpm ≡ 2 14 ≡ 16384 







Outputs 

nIn_v 

AxisData 

L_DcSpeed_vToSpeed_s 

[rpm] 16 Bit [rpm] 32 Bit 

� 


dnOut_s 


DINT • 15000 rpm ≡ 2 26 ≡ 67108864 

dnOut_s 

L 1.4 EN - 08/2006 77



L_DcWordTo2Bytes - Data type conversion 

4.37 L_DcWordTo2Bytes - Data type conversion 




This FB converts an input value of type "WORD" into two output values of type "BYTE". 

Inputs 


wInput 

Input value 

WORD 

Outputs 

wInput 

L_DcWordTo2Bytes 


byOutput1 

Output value 1 ≡ bit 0 ... bit 7 of wInput 

BYTE 

byOutput2 

Output value 2 ≡ bit 8 ... bit 15 of wInput 

BYTE 

byOutput1 

byOutput2 

78 1.4 EN - 08/2006 L

4.38 L_DcWordToBits - Bit demultiplexer 





L_DcWordToBits - Bit demultiplexer 


This FB outputs the 16 corresponding bit values for an input value of type "WORD". 

Inputs 


wInput 


WORD 

Outputs 

wInput 

L_DcWordToBits 

WORD 


bBit0 

Bit 0 output of byInput (valency: 2 

BOOL 

0 ) 

bBit1 


BOOL 

bBit2 


BOOL 

... ... 

bBit15 


BOOL 

L 1.4 EN - 08/2006 79 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

bBit0 

bBit1 

bBit2 

bBit3 

bBit4 

bBit5 

bBit6 

bBit7 

bBit8 

bBit9 

bBit10 

bBit11 

bBit12 

bBit13 

bBit14 

bBit15



L_DcWordToByte - Type converter 

4.39 L_DcWordToByte - Type converter 




This FB converts a data type "WORD" into the data type "BYTE" . 

Inputs 


wIn 

Input signal 

WORD 

Outputs 


byOut 

Output signal 

BYTE 

Function 

Bit 15 

wIn 

WORD 

L_DcWordToByte 

WORD � BYTE 

80 1.4 EN - 08/2006 L 

Bit 7 

byOut 

Bit 0 

Bit 0 

BYTE

4.40 L_DcWordToDWord - Type converter 



This FB converts a data type "WORD" into the data type "DWORD" . 

Inputs 

Outputs 

Function 



L_DcWordToDWord - Type converter 



wIn 

Input signal 

WORD 

wIn 


dwOut 

Output signal 

DWORD 

L_DcWordToDWord 

WORD � DWORD 

L 1.4 EN - 08/2006 81 

Bit 15 

0 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 

Bit 31 

WORD 

dwOut 

Bit 0 

Bit 0 

DWORD



L_DcWordToInt - Type converter 

4.41 L_DcWordToInt - Type converter 




This FB converts a data type "WORD" into the data type "INT". 

Inputs 


wIn 

Input signal 

WORD 

Outputs 

wIn 


nOut 

Output signal 

INT 

L_DcWordToInt 

WORD � INT 

82 1.4 EN - 08/2006 L 

nOut

4.42 L_DevApplErr - Error tripping 

Function library: LenzeDevice9400 




L_DevApplErr - Error tripping 


This FB serves to execute a fault handling in the application. 

� Via the 8 boolean inputs up to 8 different application fault messages with 

parameterisable module ID, fault ID and fault response can be released by the 

application. 

� If more than 8 application fault messages are required, the FB can be instanced. 

� If several inputs are set to TRUE at the same time, the input with the highest number 

trips the fault message. 

Inputs 

bError1 

bError2 

bError3 

bError4 

bError5 

bError6 

bError7 

bError8 

L_DevApplErr 

dnState 

dnErrorNo 


bError1 

Input for fault message 1 (lowest priority) 

BOOL 

FALSE�TRUE The fault condition 1 is fulfilled and the parameterised application 

fault message is output by the operating system. 

FALSE The fault condition 1 is not fulfilled anymore. 

... ... 

bError8 

Input for fault message 8 (highest priority) 

BOOL 

FALSE�TRUE The fault condition 8 is fulfilled and the parameterised application 

fault message is output by the operating system. 

FALSE The fault condition 8 is not fulfilled anymore. 

L 1.4 EN - 08/2006 83 

Error handler



L_DevApplErr - Error tripping 

Outputs 


dnState 

Display of the fault message last transmitted to the operating system. 

DINT 

1 Fault message 1 is active. 








dnErrorNo 

Current fault number 

DINT 

Parameters 


C05900 980 999 Module ID 


C05901/1...8 0 65535 Fault ID 


C05902/1...8 Fault response 

0 None 

1 Fault 

2 Trouble 

3 Quick stop by trouble 

4 Warning locked 

5 Warning 

6 Information 

84 1.4 EN - 08/2006 L



L_DevBrakeStateDecoder - Status signals of the basic function "Brake control" 

4.43 L_DevBrakeStateDecoder - Status signals of the basic function "Brake control" 




This FB decodes the status output signal dnState of the SB LS_Brake into individual boolean 

status signals for further use in the FB interconnection. 

� The functionality corresponds to a converter "DINT�BOOL", but the boolean outputs of 

this FB have the same names according to their meaning. 

Inputs 

L_DevBrakeStateDecoder 

dnState bActive 

bModulUsed 

bBrakeReleased 

bErrorActive 

bGrindIn 

bTorqueTest 

bDirectMode 

bAutoMode 

bErrExtFeedback 

bErrPosDrift 

bErrModul 

bTimeActivate 

bGrindInDone 

bTorqueTestDone 

LS_Brake state 


dnState 

Input for the bit-coded status signal of the basic function "Brake control". 

DINT • Connect this input with the output of the same name of the SB LS_Brake. 

L 1.4 EN - 08/2006 85



L_DevBrakeStateDecoder - Status signals of the basic function "Brake control" 

Outputs 

The boolean outputs have the following meaning when the value is TRUE: 

Bit* Identifier Meaning in case of TRUE 

1 bActive Brake control is active. 

4 bModulUsed Brake module is used. 

8 bBrakeReleased Brake status (internal status signal). 

15 bErrorActive Brake error is active (collective message). 

16 bGrindIn Status "Brake grinding-in". 

17 bTorqueTest Status "Brake test". 

18 bDirectMode Status "Direct control". 

19 bAutoMode Status "Automatic control". 

20 bErrExtFeedback Fault: External feedback. 

21 bErrPosDrift Fault: Position drift when brake is applied/during brake test. 

22 bErrModul Fault: Brake module monitoring. 

23 bTimeActivate Information: Brake activation via waiting time. 

24 bGrindInDone Information: Brake grinding-in is completed. 

25 bTorqueTestDone Information: Brake test is completed. 

* Relating to the input signal dnState. 

86 1.4 EN - 08/2006 L



L_DevDriveInterfaceStateDecoder - Status signals of the drive interface 

4.44 L_DevDriveInterfaceStateDecoder - Status signals of the drive interface 




This FB decodes the status output signal dnState of the SB LS_DriveInterface into 




Inputs 

L_DevDriveInterfaceStateDecoder 

dnState 

LS_DriveInterface state 

bActive 

bDone 

bAccDec 

bCcw 

bHomePosOK 

bBrakeReleased 

bZeroPos 

bErrorActive 

bTorqueFollower 

bSpeedFollower 

bPositionFollower 

bFollowerActive 

bPositioningActive 

bHomingActive 

bManualJogActive 

bBrakeTestActive 

bStandstillActive 

bStoppingActive 

bQspActive 

bDriveNotReady 

bInit 

bFail 

bNotOperational 


dnState 

Input for the bit-coded status signal of the drive interface. 

DINT • Connect this input with the output of the same name of the 

SB LS_DriveInterface. 

L 1.4 EN - 08/2006 87



L_DevDriveInterfaceStateDecoder - Status signals of the drive interface 

Outputs 



1 bActive Basic function is active. 

2 bDone Basic function is completed. 

3 bAccDec Acceleration/deceleration phase is active. 

5 bCcw Counter-clockwise rotation is active. 

7 bHomePosOK Home position is known. 

8 bBrakeReleased Brake is released. 

10 bZeroPos Zero crossing detected or position = "0". 

15 bErrorActive Fault is active. 

16 bTorqueFollower Torque follower is active. 

17 bSpeedFollower Speed follower is active. 

18 bPositionFollower Position follower is active. 

19 bFollowerActive Setpoint follower is active (group signal for bit 16 ...18.) 

20 bPositioningActive Positioning is active. 

21 bHomingActive Homing is active. 

22 bManualJogActive Manual jog is active. 

23 bBrakeTestActive Brake test is active. 

24 bStandstillActive Drive is at standstill. 

25 bStoppingActive Stopping (standard stop) is active. 

26 bQspActive Quick stop is active. 

28 bDriveNotReady Controller is not ready. 

29 bInit Controller is being initialised. 

30 bFail Fault 

31 bNotOperational State machine for the basic functions is not ready. 


88 1.4 EN - 08/2006 L



L_DevHomingStateDecoder - Status signals of the basic function "Homing" 

4.45 L_DevHomingStateDecoder - Status signals of the basic function "Homing" 




This FB decodes the status output signal dnState of the SB LS_Homing into individual 




Inputs 

dnState 

L_DevHomingStateDecoder 

LS_Homing state 

bActive 

bDone 

bAccDec 

bCcw 

bHomePosOK 

bErrorActive 

bRefMarkDetect 

bTPDetect 

bLimProfile 

bLimDir 

bLimAbort 


bErrPG 


dnState 

Input for the bit-coded status signal of the basic function "Homing". 

DINT • Connect this input with the output of the same name of the SB LS_Homing. 

L 1.4 EN - 08/2006 89



L_DevHomingStateDecoder - Status signals of the basic function "Homing" 

Outputs 



1 bActive Homing is active. 

2 bDone Homing is completed. 



7 bHomePosOK Home position is known. 

15 bErrorActive Fault is active. 

16 bRefMarkDetect Pre-stop (home switch) has been detected. 

17 bTPDetect Touch probe/zero pulse has been detected. 

21 bLimProfile Profile data is limited by the basic function "Limiter" (SB LS_Limiter). 

22 bLimDir Direction is inhibited by the basic function "Limiter" (SB LS_Limiter). 

23 bLimAbort Abort by basic function "Limiter" (SB LS_Limiter). 

25 bStoppingActive Stopping (standard stop) is active. 

30 bErrPG Error during profile generation. 


90 1.4 EN - 08/2006 L



L_DevLimiterStateDecoder - Status signals of the basic function "Limiter" 

4.46 L_DevLimiterStateDecoder - Status signals of the basic function "Limiter" 




This FB decodes the status output signal dnState of the SB LS_Limiter into individual 




Inputs 

L_DevLimiterStateDecoder 

dnState bCinhForced 

bQSPForced 

bQSP2Forced 

bLimSpeed1 

bLimSpeed2 

bLimSpeed3 

bLimSpeed4 

bLimNegDir 

bLimPosDir 

bLimTipDistance 

bLimSetPos 

bHWLimitPos 

bHWLimitNeg 

LS_Limiter state 

bSWLimitPos 

bSWLimitNeg 

bLimSpeed 

bLimAcc 

bLimDec 


dnState 

Input for the bit-coded status signal of the basic function "Limiter". 

DINT • Connect this input with the output of the same name of the SB LS_Limiter. 

L 1.4 EN - 08/2006 91



L_DevLimiterStateDecoder - Status signals of the basic function "Limiter" 

Outputs 



0 bCinhForced Controller inhibit is initiated. 

(Safe torque off is requested.) 

1 bQSPForced Quick stop is initiated. 

(Safe stop 1 is requested.) 

2 bQSP2Forced Quick stop is initiated. 

(Safe stop 2 is requested.) 

3 bLimSpeed1 Profile change due to speed limitation. 

(Limited speed 1 is requested.) 







7 bLimNegDir Only positive direction of rotation is permissible. 

• When the direction of rotation is negative while requesting "Only positive 

direction of rotation", the drive is braked to standstill. 

8 bLimPosDir Only negative direction of rotation is permissible. 

• When the direction of rotation is negative while requesting "Only negative 

direction of rotation", the drive is braked to standstill. 

10 bLimTipDistance Increment in manual jog mode is limited. 

12 bLimSetPos Limitation of the set position is active. 

16 bHWLimitPos Positive limit switch inhibits travel in positive direction. 

17 bHWLimitNeg Negative limit switch inhibits travel in positive direction. 

18 bSWLimitPos Positive software limit position inhibits travel in positive direction. 

19 bSWLimitNeg Negative software limit position inhibits travel in negative direction. 

20 bLimSpeed Limitation of speed is active. 

21 bLimAcc Limitation of acceleration is active. 

22 bLimDec Limitation of deceleration is active. 

23 bLimJerk Limitation of jerk is active (S-ramp time is increased). 


92 1.4 EN - 08/2006 L



L_DevManualJogStateDecoder - Status signals of the basic function "ManualJog" 

4.47 L_DevManualJogStateDecoder - Status signals of the basic function "ManualJog" 




This FB decodes the status output signal dnState of the SB LS_ManualJog into individual 




Inputs 

L_DevManualJogStateDecoder 


bDone 

bAccDec 

bCcw 

bErrorActive 

bErrJogNegRelease 

bErrJogNegJogPos 

bErrJogPosRelease 

bJogSpeed2 

bJogSpeed1 

bLimDirPos 

bLimDirNeg 

bAbort 


LS_ManualJog state 

bErrPG 


dnState 

Input for the bit-coded status signal of the basic function "ManualJog". 

DINT • Connect this input with the output of the same name of the SB LS_ManualJog. 

L 1.4 EN - 08/2006 93



L_DevManualJogStateDecoder - Status signals of the basic function "ManualJog" 

Outputs 



1 bActive Manual jog is active. 

2 bDone Manual jog is completed. 



15 bErrorActive Impermissible state (see bit 16, 17, 18, 22, 23). 

16 bErrJogNegRelease Stop by simultaneous selection of negative direction and retraction from limit 

switch. 

17 bErrJogNegJogPos Stop by simultaneous selection of positive and negative direction. 

18 bErrJogPosRelease Stop by simultaneous selection of positive direction and retraction from limit 

switch. 

20 bJogSpeed2 Manual jog speed 2 is active. 

21 bJogSpeed2 Manual jog speed 1 is active. 

22 bLimDirPos Stop by selection of positive direction and simultaneous activation of the positive 

software limit position or the positive limit switch. 

23 bLimDirNeg Stop by selection of negative direction and simultaneous activation of the negative 

software limit position or the negative limit switch. 

24 bAbort General abort (deramping of the speed setpoint) 

• E.g. when a direction initiator for manual jog is released or an impermissible state 

occurs (see bit 16, 17, 18, 22, 23). 

25 bStoppingActive Stopping is active. 



94 1.4 EN - 08/2006 L

4.48 L_LdAddOffsetCyclic - Offset addition 

Function library: LenzeLineDrive 




L_LdAddOffsetCyclic - Offset addition 


This FB adds an offset to a clocked position and returns the value to the clock pulse. 

� The cycle and shift factor for the position resolution are read out of the machine 

parameters (AxisData). 

� The clock pulse is created without remainder processing. 

Inputs 


dnPosIn_p 

Clocked position in [inc] 

DINT 

dnOffset_p 

Offset in [inc] 

DINT 







Outputs 

dnPosIn_p 

dnOffset_p 

AxisData 

L_LdAddOffsetCyclic 

dnPosOut_p 


dnState 

Status (bit-coded) 

DINT 

Bit 10 Zero crossing active 

Bit 15 Fault 

Bit 18 No cycle available 

Bit 21 Input error (e.g. impermissible position jump or inverse direction of 

motion) 

Bit 23 No valid axis data structure 

dnPosOut_p 

Position output in [inc] 

DINT 

L 1.4 EN - 08/2006 95 

dnState



L_LdClutchAxisP - Virtual clutch for synchronism 

4.49 L_LdClutchAxisP - Virtual clutch for synchronism 




This FB provides the "Virtual clutch" function with position reference for the "Synchronism" 

application. 

Inputs 

dnSetPosition_p 

dnActPosition_p 

dnOpenPosition_p 

bEnable 

bClose 

bOpenInstant 

AxisData 

L_LdClutchAxisP 

dnState 

bInTarget 

bOpen 

bAccDec 

dnPosOut_p 


dnSetPosition_p 

Selection of an external master position in [inc] 

DINT • E.g. by an absolute value encoder or a virtual master. 

• The external master position must be within the cycle. 

• C05078 indicates the position of the master shaft in the real unit of the machine. 

dnActPosition_p 

Internal master position of the clutch function in [inc] 

DINT • The internal master position must be within the cycle. 

• C05077 indicates the master position in the real unit of the machine. 

dnOpenPosition_p 

Selection of the stop position after decoupling or selection of the starting position 

DINT when engaging the master shaft in [inc]. 

• The stop position/starting position must be within the cycle. 

• C05076 indicates the stop position in the real unit of the machine. 

bEnable 

Activate the clutch function 

BOOL • This input has the highest priority. 

FALSE Clutch function is deactivated. 

• The input dnSetPosition_p connected 1:1 to the output 

dnPosOut_p. No ramps are active. 

TRUE Clutch function is activated. 

bClose 

Control of clutch function 

BOOL 

FALSE Open the clutch. 

• The master position dnPosOut_p is positioned via the set ramp to 

the stop position dnOpenPosition_p. 

TRUE Close the clutch. 

• The master position dnPosOut_p is synchronised via the set ramp 

and follows the master shaft dnSetPosition_p after it has been 

clutched in. 

96 1.4 EN - 08/2006 L

Outputs 





bOpenInstant 

Positive opening operation of the clutch. 

BOOL • This input has the second highest priority (after bEnable). 

FALSE�TRUE The master position dnPosOut_p is separated from the master shaft 

and stopped via the set ramp. 








dnState 


DINT 

Bit 1 State active 

Bit 2 Procedure completed 

Bit 3 Acceleration/deceleration phase 

Bit 8 Brake/clutch closed 

Bit 9 Waiting for clutch process 

Bit 15 Fault 

Bit 16 Starting position is beyond the cycle 


Bit 19 Maximum speed = "0" 


motion) 


bInTarget 

Status signal "Position reached" 

BOOL 

TRUE Position reached. 

bOpen 

Status signal "Clutch/declutch process is active" 

BOOL 

FALSE Clutch is closed, master position follows the master shaft. 

TRUE Master position is synchronised to the master shaft after the clutch 

is closed or the master position is shut down after the clutch is 

opened. 

• dnActPosition_p and dnSetPosition_p are not synchronous! 

bAccDec 

Status signal "Ramp function of the clutch is active" 

BOOL 

FALSE Ramp function of the clutch is not active. 

• The clutch is closed or the master position is shut down. 

TRUE Ramp function of the clutch is active. 

• The master position is synchronised or shut down. 

dnPosOut_p 

Master position output (current position of the master shaft in the cycle) in [inc] 

DINT • C05079 indicates the current master position in the real unit of the machine. 

L 1.4 EN - 08/2006 97




Parameters 

Identifier/data type 

Index 

Possible settings Information 

C05070/1 0.010 s 130.000 Clutch in ramp 

• Acceleration ramp for 

synchronising to the master shaft. 

• Initialisation: 1.000 s 

C05070/2 0.010 s 130.000 Decoupling ramp 

• Deceleration ramp for shutdown 

of the master position. 


C05070/3 0.010 s 130.000 Ramp stop 

• Deceleration ramp for the positive 

opening operation. 


C05074 -2147483647 2147483647 Status 

• Display of the bit-coded output 

signal dnState. 

C05076 -214748.3647 unit 214748.3647 Standstill position selection 

• Display of the input signal 

dnOpenPosition_p in the real unit 

of the machine. 

C05077 -214748.3647 unit 214748.3647 Master position 


dnActPosition_p in the real unit of 

the machine. 

C05078 -214748.3647 unit 214748.3647 Master shaft 


dnSetPosition_p in the real unit of 

the machine. 

C05079 -214748.3647 unit 214748.3647 Current master position 


dnPosOut_p in the real unit of the 

machine. 

98 1.4 EN - 08/2006 L

4.50 L_LdClutchV - Virtual clutch for electronic gearboxes 




L_LdClutchV - Virtual clutch for electronic gearboxes 



This FB provides the "Virtual clutch" function with speed reference for the "Electronic 

gearbox" application. 

Inputs 

dnSpeedIn_s 

dnSetSpeed_s 

bEnable 

bClose 

bOpenInstant 

AxisData 

L_LdClutchV 

dnState 

bOpen 

bAccDec 

dnSpeedOut_s 


dnSpeedIn_s 

Setpoint speed 

DINT • At this input, the FB expects a speed in [rpm]. The machine parameters at the 

input AxisData are used as speed reference. 

• C05088 indicates the setpoint speed in the real unit of the machine. 

dnSetSpeed_s 

Basic speed 



• The selected speed is output at dnSpeedOut_s when the clutch is open. 

• C05087 indicates the basic speed in the real unit of the machine. 

bEnable 

Activate the clutch function 


FALSE Clutch function is deactivated. 

• The input dnSpeedIn_s is connected through 1:1 to output 

dnSpeedOut_s. No ramps are active. 

TRUE Clutch function is activated. 

bClose 

Control of clutch function 

BOOL 

FALSE Open the clutch. 

• The master speed dnSpeedOut_s is led to the basic speed 

dnSetSpeed_s via the set ramp. 

TRUE Close the clutch. 

• The master speed dnSpeedOut_s is synchronised to the setpoint 

speed dnSpeedIn_s via the set ramp. 

bOpenInstant 

Positive opening operation of the clutch. 

BOOL • This input has the second highest priority (after bEnable). 

FALSE�TRUE The master speed dnSpeedOut_s is separated from the master shaft 

and stopped via the set ramp. 







L 1.4 EN - 08/2006 99




Outputs 


dnState 


DINT 



Bit 8 Brake/clutch closed 

Bit 15 Fault 


bOpen 

Status signal "Clutch/declutch process is active" 

BOOL 

FALSE Clutch is closed, dnSpeedOut_s follows dnSpeedIn_s. 

TRUE dnSpeedOut_s is asynchronous to dnSpeedIn_s and is led via the 

internal profile generator. 

bAccDec 

Status signal "Ramp function of the clutch is active" 

BOOL 

FALSE Ramp function of the clutch is not active. 

• The clutch is closed or the master speed is shut down. 

TRUE Ramp function of the clutch is active. 

• The master speed is accelerated or decelerated. 

dnSpeedOut_s 

Speed output in [rpm] 

DINT • C05089 indicates the speed in the real unit of the machine. 

Parameters 


Index 


C05080/1 0.010 s 130.000 Clutch in ramp 

• Acceleration ramp for 

synchronising to dnSpeedIn_s. 


C05080/2 0.010 s 130.000 Decoupling ramp 

• Deceleration ramp for 

synchronising to dnSetSpeed_s. 


C05080/3 0.010 s 130.000 Ramp stop 

• Deceleration ramp for the positive 

opening operation. 


C05083 0.010 s 130.000 Jerk limitation 

• S-ramp time for jerk limitation. 


C05085 -2147483647 2147483647 Status 



C05087 -214748.3647 unit 214748.3647 Basic speed 

• Read only 

• Calculated from the speed signal 

dnSetSpeed_s. 

100 1.4 EN - 08/2006 L


Index 





C05088 -214748.3647 unit 214748.3647 Setpoint speed 

• Read only 


dnSpeedIn_s. 

C05089 -214748.3647 unit 214748.3647 Output speed 

• Read only 


dnSpeedOut_s. 

L 1.4 EN - 08/2006 101



L_LdConvAxisV - Speed ratio 

4.51 L_LdConvAxisV - Speed ratio 




This FB transforms a speed between two axes. 

Inputs 


bEnable 

Activate function 

BOOL 

FALSE Output speed = "0". 

TRUE Output speed = transformed input speed. 

dnSpeedIn_s 

Selection of the master speed 



• C05165/1 indicates the master speed in the real unit of the machine. 

XAxisData Machine parameters for scaling the master speed (master shaft) 




YAxisData Machine parameters for scaling the setpoint speed (tool) 



Outputs 

bEnable 

dnSpeedIn_s 

XAxisData 

YAxisData 

L_LdConvAxisV 

dnState 

dnSpeedOut_s 


dnState 


DINT 

Bit 14 Internal limitation for calculation 

Bit 15 Fault 


dnSpeedOut_s 

Setpoint speed output as speed in [rpm] 

DINT • C05165/2 indicates the setpoint speed in the real unit of the machine. 

102 1.4 EN - 08/2006 L 

v 

t

Parameters 





Index 


C05160 Operating mode 

0 Unit coupling Lenze setting 

1 Clock equality 

2 Free coupling 

C05161/1 0 unit 2147483647 Cycle X 

• Read only 

C05161/2 0 unit 2147483647 Cycle Y 

• Read only 

C05162/1 0.0000 214748.3647 Reference variable X 

• Initialisation: 0.0000 

C05162/2 0.0000 214748.3647 Reference variable Y 


C05163/1 String of digits User unit X 

• Read only 

C05163/2 String of digits User unit Y 

• Read only 

C05165/1 -2147483647 unit/t 2147483647 Master speed 

• Read only 


dnSpeedIn_s. 

C05165/2 -2147483647 unit/t 2147483647 Setpoint speed 

• Read only 


dnSpeedOut_s. 

C05169 -2147483647 2147483647 Status 



L 1.4 EN - 08/2006 103




Function 

This FB transforms a speed between two axes, calculating the function of an electronic 

gearbox. The transformation works with remainder processing. 

Operating mode 0 (unit coupling): 

� In this operating mode, the FB couples both axes via the set feed constants. 

� Via C05162/1 and C05162/2 the ratio of the corresponding units is set, i.e. how many 

units of the X axis correspond to how many units of the Y axis. 

Operating mode 1 (clock equality): 

� In this operating mode the FB makes use of the set cycles. The transformation displays 

one cycle of the X axis exactly in one cycle of the Y axis. 

Operating mode 2 (free coupling): 

� In this operating mode the set feed constants are not used for the transformation. 

� Via C05162/1 and C05162/2 the revolution ratio is indicated, i.e. how many revolutions 

of the master shaft correspond to how many revolutions of the tool. 

104 1.4 EN - 08/2006 L

4.52 L_LdDifferentiateCyclic - Cyclic differentiation 




L_LdDifferentiateCyclic - Cyclic differentiation 



This FB differentiates a position into a speed (by analogy with the FB L_SdDifferentiate) in 

consideration of the cycle. 



� The clock pulse is created with remainder processing. 

� The FB is the counterpart of the FB L_LdIntegrateCyclic. (� 110) 

Inputs 


dnPosIn_p 


DINT • Scaling: 1 motor revolution ≡ 2 16 (or acc. to AxisData) 







Outputs 

dnPosIn_p 

AxisData 

L_LdDifferentiateCyclic 

dnState 

dnSpeedOut_s 


dnState 


DINT 



Bit 15 Fault 



motion) 


dnSpeedOut_s 

Speed 

DINT • Scaling: 15000 rpm ≡ 226 ≡ 67108864 

L 1.4 EN - 08/2006 105



L_LdExtrapolate - Extrapolation 

4.53 L_LdExtrapolate - Extrapolation 




This FB serves to extrapolate position information in order to e.g. compensate higher bus 

transmission cycles or smooth absolute value encoders with low resolution. A forced 

extrapolation is also possible. 

Inputs 


bEnable 

Activate extrapolation 

BOOL 

FALSE The master value at dnPosIn_p is connected through 1:1 to the 

output dnPosOut_p. 

TRUE The master value at dnPosIn_p is output to dnPosOut_p depending 

on the input bForce and the number of the extrapolation cycles set in 

C05000. 

bForced 

Forced extrapolation 

BOOL 

FALSE Extrapolation is only executed if the input value in the task cycle 

does not change, for instance, since the fieldbus cycle is longer and 

does not provide new position values in the task cycle. 

TRUE Extrapolation is executed irrespective of master value changes. 

dnPosIn_p 

Position of the external, and, as the case may be, insufficiently resolved master shaft 

DINT in [inc]. 







Outputs 

bEnable 

bForced 

dnPosIn_p 

AxisData 

L_LdExtrapolate 


bBusy 

Status signal "Extrapolation is executed" 

BOOL 

TRUE Extrapolation is executed. 

bLimit 

Status signal "Extrapolation limit reached" 

BOOL 

TRUE Extrapolation limit (C05000) reached. 

bError 

"Fault" status signal 

BOOL 

TRUE Master position dnPosIn_p has exceeded the cycle defined in the 

machine parameters (AxisData). 

106 1.4 EN - 08/2006 L 

bBusy 

bLimit 

bError 

dnSpeedOut_s 

dnPosOut_p

Parameters 





dnSpeedOut_s 

Master speed output (in the cycle) as speed in [rpm] 

DINT • C05007 indicates the master speed in the real unit of the machine. 

dnPosOut_p 

Master position output (in the cycle) in [inc] 

DINT • C05008 indicates the master position in the real unit of the machine. 


Index 


C05000 1 127 Number of extrapolation cycles 


C05007 -214748.3647 unit/t 214748.3647 Current speed 

• Read only 


dnSpeedOut_s. 

C05008 -214748.3647 unit 214748.3647 Current position 



machine. 

C05009 Fault master value cycle 

0 No fault 

• Read only 

1 Fault 

L 1.4 EN - 08/2006 107




4.53.1 Function 

Compensation of bus transmission cycles > Sampling rate 

If position information (e.g. the vertical shaft position) is exchanged between master and 

slave drives via a bus system with a transmission cycle higher than the sampling rate or 

between tasks with different cycle times, the setpoints cannot be processed in the control 

cycle of the drives. As a result, the position does not change linearly but stepwise at 

constant speed, which causes torque impulses. 

dnPosIn_p 

dnPosOut_p 

[4-1] Example: Signal characteristic with five extrapolation cycles 

� Note! 

5 cycles 

� This FB serves to smooth the stepping 

by extrapolation. 

� The number of the extrapolation cycles 

to be set in C05000 are defined 

according to the following formula: 

� By setting bEnable to TRUE, the extrapolation is activated. 

� If bEnable is set to FALSE, the input signal is only looped through or the difference for 

speed output is created. 

108 1.4 EN - 08/2006 L 

t 

C05000 

= 

Bus cycle [ms] 

------------------------------------- 

Task cycle [ms] 

Ensure that the number of extrapolation cycles amounts to an integer value so 

that the position information increases linearly and the speed can be calculated 

correctly. 

• If a smaller value is set than calculated according to the formula mentioned 

above, the extrapolation limit is reached and this is displayed by the output 

bLimit. In this case, dnPosIn_p is directly connected through to dnPosOut_p. 

• If a higher value is set than calculated according to the formula mentioned 

above, it has no impact.

Smoothing of a low-resolution absolute value encoder 




If the resolution of the absolute value encoder is so low that a new setpoint is not available 

for every new task call, this FB serves to "fine-interpolate" between the setpoints for a 

better smooth running. 

� For this purpose enter instead of the bus cycle time the resolution converted at 

minimum speed into the formula mentioned above for calculating the extrapolation 

cycles. 

Forced extrapolation 

Forced extrapolation means that it is extrapolated up to the maximum value in C05000 

irrespective whether the input signal has changed or not. 

� The forced extrapolation is activated by setting bForced to TRUE. 

L 1.4 EN - 08/2006 109



L_LdIntegrateCyclic - Cyclic integration 

4.54 L_LdIntegrateCyclic - Cyclic integration 




This FB integrates a speed in a position (by analogy with the FBL_SdIntegrate) in 

consideration of the cycle. 

� It is possible to add a position offset to the output position, e.g. for trimming purposes. 

This function corresponds exactly to the FB L_LdAddOffsetCyclic. (� 95) 



� The clock pulse is created with remainder processing. 

� The FB is the counterpart of the FB L_LdDifferentiateCyclic. (� 105) 

Inputs 

dnSpeedIn_s 

bLoadStartPos 

dnStartPos_p 

dnPosOffset_p 

AxisData 

L_LdIntegrateCyclic 

dnPosOut_p 


dnSpeedIn_s 

Speed 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 

bLoadStartPos 

Load the integrator with starting position 

BOOL 

TRUE Load the integrator with the value at the dnStartPos_p input. 

dnStartPos_p 

Starting position in [inc] with which the integrator is loaded by setting 

DINT bLoadStartPos to TRUE. 

dnPosOffset_p 

Position offset in [inc] 

DINT 







• If this input is released, the following scaling applies: 

1 motor revolution ≡ 2 16 

110 1.4 EN - 08/2006 L 

dnState 

dnSpeedOut_s

Outputs 



L_LdIntegrateCyclic - Cyclic integration 


dnState 


DINT 



Bit 15 Fault 



motion) 


dnPosOut_p 

Position output in [inc] 

DINT 

dnSpeedOut_s 


DINT • Under consideration of the selected position offset. 

L 1.4 EN - 08/2006 111



L_LdLinearCoupling - Master value connection 

4.55 L_LdLinearCoupling - Master value connection 




This FB serves as master value connection for the "synchronism" application. 

� The cycle of the X axis is synchronous to the cycle of the Y axis, i.e. in case of an overflow 

of the X axis, there would also be a new cycle for the Y axis. 

Inputs 

bEnable 

bXReset 

dnXPosIn_p 

dnXOffset_p 

XAxisData 

YAxisData 

L_LdLinearCoupling 

dnState 

bXZeroPos 

dnYSetPosCycle_p 

dnYSpeedOut_s 

dnXSpeedOut_s 

dnXActPos_p 


bEnable 


BOOL 

TRUE Function is activated. 

bXReset 

Reset the master value selection dnXPosIn_p internally 

BOOL 

FALSE Output corresponds to dnXPosIn_p + dnXOffset_p. 

TRUE Master value selection dnXPosIn_p is internally set to and held at "0". 

Output corresponds to dnXOffset_p. 

dnXPosIn_p 

Master value selection in [inc] 


dnXOffset_p 

Phase offset selection for the master value in [inc] 

DINT • The phase offset is applied immediately. 

• C05187 indicates the phase offset in the real unit of the machine. 

XAxisData Machine parameters for scaling the master value 




YAxisData Machine parameters for scaling the setpoint 



112 1.4 EN - 08/2006 L 

X 

Y 

t 

t

Outputs 

Parameters 





dnState 


DINT 



Bit 15 Fault 



Bit 22 No cycle available for Y axis 


bXZeroPos 

Status signal "Zero position/zero crossing" 

BOOL • The input signal dnXActPos_p is the reference. 

FALSE Master value is at any position in the master value cycle (register) 

TRUE Permanently: 

Master value is at the zero position of the master value integrator. 

For one cycle: 

Zero crossing of the master value integrator. 

dnYSetPosCycle_p 

Setpoint position output in [inc] 

DINT • Output of the position setpoint in the setpoint cycle as a function of the master 

value (master value cycle). 

• The return of master value cycle and setpoint cycle depend on the corresponding 

cycles set. Thus, the return is firmly linked to the master value cycle. 

• C05189 indicates the setpoint position in the real unit of the machine. 

dnYSpeedOut_s 


DINT • C05184 indicates the setpoint speed in the real unit of the machine. 

dnXSpeedOut_s 

Master speed output as speed in [rpm] 


dnXActPos_p 

Master position output in [inc] 

DINT • Results from MODULO(dnXOffset_p + dnXPosIn_p) 



Index 


C05181 -214748.3647 214748.3647 Status 



C05183 -214748.3647 unit/t 214748.3647 Current master speed 

• Read only 


dnXSpeedOut_s. 

C05184 -214748.3647 unit/t 214748.3647 Setpoint speed 

• Read only 


dnYSpeedOut 

_s. 

C05186 -214748.3647 unit 214748.3647 Position 


dnXPosIn_p in the real unit of the 

machine. 

L 1.4 EN - 08/2006 113





Index 


C05187 -214748.3647 unit 214748.3647 Master value trimming 


dnXOffset_p in the real unit of the 

machine. 

C05188 -214748.3647 unit 214748.3647 Current master value 

• Display of the output signal 

dnXActPos_p in the real unit of the 

machine. 

C05189 -214748.3647 unit 214748.3647 Current set position 


dnYSetPosCycle_p in the real unit 


114 1.4 EN - 08/2006 L

4.56 L_LdMarkSync - Mark synchronisation 





L_LdMarkSync - Mark synchronisation 


This FB is used for mark synchronisation in synchronism and cam profiler applications. 

� The FB monitors an encoder signal and interpolates the corresponding position when a 

touch probe occurs. The difference to the setpoint position where the touch probe was 

expected is determined. 

� The assigned correction speed is integrated to a correction offset that is used to correct 

the detected deviation. 

� For mark correction, connect the FB with a suitable controller, e.g. with the 

FB L_LdPosCtrlLin. (� 121) 

Inputs 

bEnable 

dnMakeUpLeeway_s 

bResetPos 

dnActPos_p 

dnTpTimeLag 

bTpReceived 

dnTpSetPos_p 

AxisData 

L_LdMarkSync 

dnState 

dnPosOffset_p 

dnActDifference_p 

dnTpDifference_p 

dnTpTpDistance_p 

dnTpPos_p 


bEnable 

Activate FB 

BOOL 

TRUE FB is activated. 

dnMakeUpLeeway_s 

Selection (addition) the compensating speed 



bResetPos 

Reset internal offset integrator 

BOOL 

TRUE The offset integrator is reset. 

dnActPos_p 

Current encoder position in [inc] 

DINT 

dnTpTimeLag 

Input for accepting the time stamp 

DINT • Connect this input with the output dnTouchProbeTimeLag of the corresponding 

touch probe system block. 

bTpReceived 

Input for taking over the status "Touch probe detected"" 

BOOL • Connect this input with the output dnTouchProbeReceived of the corresponding 


L 1.4 EN - 08/2006 115



L_LdMarkSync - Mark synchronisation 


dnTpSetPos_p 

Touch probe setpoint position in [inc] 

DINT 







Outputs 


dnState 

Status 

DINT 


Bit 4 Fault 


dnPosOffset_p 

Integrated position offset in [inc] 

DINT • Used as correction position for the master value or the tool position. 

dnActDifference_p 

Current position difference in [inc] 

DINT • Is reduced through integration. 


Last TP deviation in [inc] 

DINT 


Distance between the last two touch probes in [inc] 

DINT • For instance to measure the real actual register. 

dnTpPos_p 

Detected TP position in [inc] 

DINT 

116 1.4 EN - 08/2006 L

4.57 L_LdMonitFollowError - Following error monitoring 


This FB serves to implement a following error monitoring. 

Inputs 

Outputs 



L_LdMonitFollowError - Following error monitoring 



bEnable 

dnFollowErrorIn_p 

dwHysteresis_p 

dwLimitError_p 

AxisData 

L_LdMonitFollowError 

bError 

dnFollowErrorOut_p 


bEnable 

Activate monitoring function 

BOOL 

TRUE Monitoring function is activated. 

dnFollowErrorIn_p 

Following error in [inc] 

DINT • C05175 indicates the following error in the real unit of the machine. 

dwHysteresis_p 

Hysteresis for switching threshold in [inc] 

DINT 

dwLimitError_p 

Switching threshold for positive and negative following error in [inc] 

DINT 








bError 

Status signal "following error" 

BOOL 

TRUE Following error of a higher switching threshold. 

dnFollowErrorOut_p 

Following error in [inc] 

DWORD 

L 1.4 EN - 08/2006 117



L_LdMonitFollowError - Following error monitoring 

Parameters 


Index 


C05175 -214748.3647 unit 214748.3647 Following error input 


dnFollowErrorIn_p in the real unit 


C05178 Status message 

FALSE Following error of a lower switching 

threshold 

• Read only 

TRUE Following error of a higher 

switching threshold 

C05179 Following error monitoring 

FALSE Deactivated 

• Read only 

TRUE Activated 

118 1.4 EN - 08/2006 L



L_LdMPot - Master value adjustment 

4.58 L_LdMPot - Master value adjustment 




This FB serves to execute a master value adjustment. 

Inputs 


bEnable 

Activate master value adjustment 

BOOL 

FALSE Master value adjustment is/will be deactivated. 

• Output dnSpeedOut_s is braked to standstill via the disable ramp, 

if required. 

TRUE Master value adjustment is activated. 

bJogPositive 

Adjustment in positive traversing direction 

BOOL 

FALSE Output dnSpeedOut_s is braked to standstill via the deceleration 

ramp. 

TRUE Output dnSpeedOut_s is led to positive speed (C05122) via the startup 

ramp. 

bJogNegative 

Adjustment in negative traversing direction 

BOOL 

FALSE Output dnSpeedOut_s is braked to standstill via the deceleration 

ramp. 

TRUE Output dnSpeedOut_s is led to negative speed (C05123) via the startup 

ramp. 







Outputs 

bEnable 

bJogPositive 

bJogNegative 

AxisData 

L_LdMPot 

bBusy 

dnSpeedOut_s 


bBusy 

Status signal "Master value adjustment is active" 

BOOL 

FALSE Master value adjustment is deactivated. 

• Output dnSpeedOut_s = "0". 

TRUE Master value adjustment is activated. 

• Output dnSpeedOut_s ≠ "0". 

dnSpeedOut_s 



119 1.4 EN - 08/2006 L 

�v

Parameters 



L_LdMPot - Master value adjustment 


Index 


C05122 -214000.0000 unit/t 214000.0000 Positive speed 

• Initialisation: 1.0000 unit/t 

C05123 -214000.0000 unit/t 214000.0000 Negative speed 


C05124 0.001 s 130.000 Acceleration ramp 


C05125 0.001 s 130.000 Deceleration ramp 


C05126 0.001 s 130.000 Disable ramp 


C05127 -214748.3647 unit 214748.3647 Output speed 

• Read only 


dnSpeedOut_s. 

L 1.4 EN - 08/2006 120

4.59 L_LdPosCtrlLin - Master value adjustment via position 


This FB serves to execute a master value adjustment. 

Inputs 



L_LdPosCtrlLin - Master value adjustment via position 



bEnable 

bExecute 

bSetZeroPos 

dnSetPos_p 

dnActPos_p 

AxisData 

L_LdPosCtrlLin 

bInTarget 

dnPosOut_p 

dnSpeedOut_s 


bEnable 

Activate FB 

BOOL 

FALSE Function block is deactivated, behaviour is according to deactivation 

mode set (C05051). 

TRUE Function block activated. 

bExecute 

Execute positioning according to the positioning mode set 

BOOL 

FALSE No positioning. 

• When a running positioning is aborted, the speed is led to "0" via 

the stop ramp. 

FALSE�TRUE Positioning is started and follows the defined set position depending 

on the positioning mode set. 

bSetPosZero 

Set the set position internally to "0" 

BOOL • Irrespective of the defined set position. 

FALSE No action, follow the set position at dnSetPos_p. 

TRUE Internal profile generator travels to position 0 if bExecute is set to 

TRUE. 

dnSetPos_p 

Selection of an angle/distance or phase difference in [inc] 

DINT • E.g. for adjusting the master angle compared to the external master shaft. 

dnActPos_p 

Selection of an angle/distance in [inc] as comparison value for the set position 

DINT 







L 1.4 EN - 08/2006 121 

��




Outputs 


bInTarget 

Status signal "Master shaft has reached stop position" 

BOOL 

TRUE Positioning deactivated, positioning running or bExecute =FALSE. 

TRUE Positioning to the set position has been executed. 

Master shaft dnPosOut_p has reached the stop position set in 

C05011. 

dnPosOut_p 


DINT 

dnSpeedOut_s 

Correction speed output as speed in [rpm] 

DINT • C05165 indicates the correction speed in the real unit of the machine. 

Parameters 


Index 


C05050 Positioning mode 

0 Absolute positioning without limit 

stop 

Lenze setting 

• If positioning is started, the 

outputs follow the set position 

via the speed profile set. 

1 Absolute positioning with limit stop 

• After positioning is started, the 



• After reaching the set position, a 

restart of the positioning is 

required for a new positioning 

process. 

2 Relative positioning with limit stop 

• After positioning is started, the 



• After reaching the set position, a 

restart of the positioning is 

required for a new positioning 

process. 

C05051 Deactivation mode 

0 Positioning function is deactivated Lenze setting 

• The outputs are set to "0" or 

FALSE. 

1 Positioning function in stand-by 

mode 

• The outputs are kept on the 

actual position. 

2 Positioning function in stand-by 

mode 

• The outputs are kept on the set 

position. 

C05053/1 -214000.0000 unit/t 214000.0000 Positive speed 


C05053/2 -214000.0000 unit/t 214000.0000 Negative speed 


122 1.4 EN - 08/2006 L


Index 





C05056/1 0.010 s 130.000 Acceleration ramp 


C05056/2 0.010 s 130.000 Deceleration ramp 


C05056/3 0.010 s 130.000 Ramp stop 


C05065 -2147483647 unit/t 2147483647 Correction speed 

• Read only 


dnSpeedOut_s. 

C05067 -214748.3647 unit 214748.3647 Deviation 

• Read only 

C05069 Deviation compensated 

0 Deviation is not compensated 

• Read only 

1 Deviation compensated 

L 1.4 EN - 08/2006 123



L_LdSetAxisVelocity - Master value processing 

4.60 L_LdSetAxisVelocity - Master value processing 




This FB serves to extend/compress the X axis and execute a synchronisation via touch 

probe. The master speed is integrated to the position within the cycle. 

Inputs 

dnSpeedIn_s 

dnTpMakeUpLeeway_s 

dnStartPos_p 

dnNumerator 

dnDenominator 

bNegOutput 

bSyncEnable 

bEnable 

byDisableMode 

dnExtMaster_p 

bTpEnable 

dnTpPos_p 

dnTpIncLastScan_p 

bTpReceived 

AxisData 

L_LdSetAxisVelocity 

dnState 

bZeroPos 

bTpDiffRecogn 

dnDifference_p 


dnTpDistance_p 

dnSpeedOut_s 

dnPosOut_p 


dnSpeedIn_s 

Selection of the master speed, e.g. from an encoder. 



dnTpMakeUpLeeway_s Selection (addition) of the TP correction speed to the master value 



dnStartPos_p 

Starting position of the master value integrator in [inc] 

DINT • The selected master position is accepted with a FALSE�TRUE edge at 

bLoadStartPos. 

• The value must be inside the range of the scaled master value cycle (register). 

dnNumerator 

Factor (numerator) for extending and compressing the master axis 

DINT • A change during operation is displayed as a stretching factor (electronic gearbox). 

dnDenominator 

Factor (denominator) for extending and compressing the master axis 

DINT • A change during operation is displayed as a stretching factor (electronic gearbox). 

bLoadStartPos 

Load starting position 

BOOL 

FALSE�TRUE Load starting position dnStartPos_p in the master value integrator. 

bNegOutput 

Invert master speed 

BOOL • Direct sign reversal of the master speed. 

• The inversion of the master value gets active before the master value scaling and 

the stretching factor. 

FALSE CW rotation, the master value is not reversed. 

TRUE CCW rotation, the master value is reversed. 

124 1.4 EN - 08/2006 L 

x 

TP 

t





bSyncEnable 

Activate synchronised stretching/compression 

BOOL 

FALSE Changes in the stretching factor are effective immediately. 

TRUE Changes in the stretching factor are only accepted during zero 

crossing. 

bEnable 

Activate FB 

BOOL 

FALSE Function block is deactivated, for behaviour see byDisableMode. 

TRUE Function block activated. 

TRUE�FALSE Master shaft dnPosOut_p travels via the ramp for permanent 

operation with master speed to the external master position 

dnExtMaster_p. 

byDisableMode 

Behaviour in case of deactivated function block (bEnable = FALSE) 

BYTE 

0 Speed output is not active, position remains. 

1 Position at dnExtMaster_p is accepted, speed output is active. 

dnExtMaster_p 

Selection of an external master position in [inc], e.g. through an absolute value 

DINT encoder. 

• Master value scaling is not considered. 

• The master position must be inside the cycle. 

bTpEnable 

Activate touch probe evaluation 

BOOL 

TRUE Touch probe evaluation activated. 

dnTpPos_p 

Assigned position of the touch probe sensor in the master value cycle in [inc] 

DINT • Value is internally limited to 0 ... 2 x cycle. 

dnTpIncLastScan_p 

Number of increments counted since touch probe. 

DINT • Connect this input with the output dnTPCaptureValue1 of the touch probe 

system block used. 

bTpReceived 

Control signal for touch probe correction 

BOOL • Connect this input with the output bTouchProbeReceived of the touch probe 


TRUE Touch probe detected. 







L 1.4 EN - 08/2006 125




Outputs 


dnState 

Status 

DINT 

Bit 4 Position change per cycle too big 



Bit 15 Fault 


Bit 17 Fault in the master signal (position or speed) 



Bit 20 Position of the touch probe sensor is beyond the cycle 


motion) 


bZeroPos 


BOOL 

FALSE Master value is at any position in the master value cycle (register). 





bTpDiffRecogn 

Status signal "Touch probe correction is active" 

BOOL 

FALSE Touch probe correction is not active or already executed in the 

current cycle. 

TRUE Touch probe correction is active or not yet completed via the ramp 

function. 


Difference between dnTpPos_p and the position measured after detecting a touch 

DINT probe in [inc]. 



DINT • For instance to measure the real master value register. 

dnTpDistance_p 

Distance between the detected touch probe and the zero point of the integrator in 

DINT [inc] 

dnSpeedOut_s 



dnPosOut_p 

Master position output (position value of the master value integrator) in [inc] 


Parameters 


Index 


C05034 -214748.3647 214748.3647 Status 




• Read only 


dnSpeedOut_s. 

126 1.4 EN - 08/2006 L





Index 


C05041 -214748.3647 unit 214748.3647 Tp-Tp-difference 


dnTpTpDistance_p in the real unit 


C05042 -214748.3647 unit 214748.3647 TP deviation 


dnDifference_p in the real unit of 

the machine. 




machine. 

C05048 TP deviation detected 

0 FALSE 


bTpDiffRecogn. 

1 TRUE 

C05049 Register zero position 

0 FALSE 


bZeroPos. 

1 TRUE 

L 1.4 EN - 08/2006 127



L_LdStateDecoder - LineDrive status signals 

4.61 L_LdStateDecoder - LineDrive status signals 




This FB decodes the status output signal dnState of an FB from the function library 

"LenzeLineDrive.lib" into individual boolean status signals for further use in the FB 




Inputs 

dnState 

L_LdStateDecoder 

bInit 

bActive 

bDone 

bAccDec 

bWarnPosDiff 

bNegativeDir 

bClutchClose 

bWaitClose 

bZeroPos 

bLimit 

bError 

bErrStartPos 

bErrExtMaster 

bErrCycleLength 

bErrMaxSpeed 

bErrTPPos 

bErrInput 

bErrCycleLengthY 

bErrAxisData 

bCycle 

bAutomatic 

bStopInstant 

bManualJog 

bInternalSpeed 

bErrPosExtMaster 


dnState 

Input for the bit-coded status signal of an FB from the function library 

DINT "LenzeLineDrive.lib". 

• Connect this input with the output of the same name of the corresponding FB. 

128 1.4 EN - 08/2006 L 

Line drive state signals 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

bReserve06 

bReserve07 

bReserve11 

bInitSetCycle 

bInitActCycle 

bHandwheel 

bReserve31

Outputs 






Status messages: 

0 bInit Function is being initialised. 

1 bActive Function is active. 

2 bDone Function is completed. 


4 bWarnPosDiff Position change per cycle too big. 

5 bNegativeDir Counter-clockwise rotation 

6 bReserve06 - 


8 bClutchClose Brake/clutch closed. 

9 bWaitClose Waiting for engagement process. 

10 bZeroPos Zero crossing is active. 


12 bInitSetCycle Initialisation of actual cycle. 

13 bInitActCycle Initialisation of setpoint cycle. 

14 bLimit Internal limitation for calculation. 

24 bCycle Single cycle 

25 bAutomatic Automatic mode 

26 bStopInstant Stopping is active. 

27 bManualJog Manual jog 

28 bInternalSpeed Internal setpoint speed is active. 

30 bHandwheel Electronic handwheel is active. 



L 1.4 EN - 08/2006 129





Fault messages: 

15 bError Fault 

16 bErrStartPos Starting position is beyond the cycle. 

17 bErrExtMaster Fault in the master signal (position or speed). 

18 bErrCycleLength No cycle available. 

19 bErrMaxSpeed Maximum speed = "0". 

20 bErrTPPos Position of the touch probe sensor is beyond the cycle. 

21 bErrInput Input error (e.g. impermissible position jump or inverse direction of motion). 

22 bErrCycleLengthY No cycle available for Y axis. 

23 bErrAxisData No valid axis data structure. 

29 bErrPosExtMaster The FB L_LdVirtualMasterV cannot approach the external target position because it 

is varying. Only fixed positions may be approached. 


130 1.4 EN - 08/2006 L

4.62 L_LdSyncOperation - Master value connection 




L_LdSyncOperation - Master value connection 



This FB serves as master value connection for the "synchronism" application. 

Inputs 


bEnable 


BOOL 

TRUE Function is activated. 

dnXPosIn_p 

Selection of the master position in [inc] 


dnXOffset_p 

Selection of the phase offset for the master position in [inc] 

DINT • The phase offset is applied immediately. 

• C05095 indicates the phase offset in the real unit of the machine. 

XAxisData Machine parameters for scaling the master value 




YAxisData Machine parameters for scaling the setpoint 



Outputs 

bEnable 

dnXPosIn_p 

dnXOffset_p 

XAxisData 

YAxisData 

L_LdSyncOperation 


dnState 


DINT 



Bit 15 Fault 




motion) 


dnYSpeedOut_s 


DINT • C05097 indicates the setpoint speed in the real unit of the machine. 

dnXSpeedOut_s 



L 1.4 EN - 08/2006 131 

� 

t 

dnState 

dnYSpeedOut_s 

dnXSpeedOut_s 

dnXActPos_p 

bXZeroPos





dnXActPos_p 

Master position output in [inc] 

DINT • Results from MODULO(dnXOffset_p + dnXPosIn_p) 


bXZeroPos 


BOOL 

FALSE Master value is at any position in the master value cycle (register) 





Parameters 


Index 


C05090 Operating mode 

0 Unit coupling Lenze setting 

1 Clock equality 

2 Free coupling 

C05091/1 String of digits User unit 

• Read only 

C05091/2 String of digits User unit 

• Read only 





C05093/1 0 unit 2147483647 Cycle Y 

• Read only 

C05093/2 0 unit 2147483647 Cycle Y 

• Read only 

C05094 -214748.3647 unit 214748.3647 Position 


dnXPosIn_p in the real unit of the 

machine. 

C05095 -214748.3647 unit 214748.3647 Master value trimming 


dnXOffset_p in the real unit of the 

machine. 


• Read only 


dnXSpeedOut_s. 

C05097 -214748.3647 unit/t 214748.3647 Setpoint speed 

• Read only 


dnYSpeedOut 

_s. 

132 1.4 EN - 08/2006 L





Index 


C05098 -214748.3647 unit 214748.3647 Current master value 


dnXActPos_p in the real unit of the 

machine. 

C05099 -214748.3647 214748.3647 Status 



L 1.4 EN - 08/2006 133



L_LdToolControl - Setpoint conditioning 

4.63 L_LdToolControl - Setpoint conditioning 




This FB serves to execute a setpoint conditioning. 

Inputs 

dnSetSpeedIn_s 

dnTpMakeUpLeeway_s 

dnOffset_p 

bLoadSetPosCycle 

dnSetPosCycleValue_p 

bInitActPosCycle 

dnActPosIn_p 

bResetActToSet 

bResetSetToAct 

bTpEnable 

bTpReceived 

dnTpLastScan_p 

dnTpPos_p 

AxisData 

L_LdToolControl 

dnState 

dnSpeedOut_s 

dnSetPosCycle_p 

dnActPosCycle_p 

dnFollowError_p 





dnSpeedIn_s 

Selection of the speed setpoint for the machine axis (tool) 



• C05148 indicates the setpoint speed in the real unit of the machine. 

dnTpMakeUpLeeway_s Speed for touch probe correction 



• C05147 indicates the correction speed in the real unit of the machine. 

dnOffset_p 

Relative offset in [inc] 

DINT • Is added to the speed setpoint dnSpeedIn_s. 

bLoadSetPosCycle 

Load setting for the master value adjustment 

BOOL 

TRUE Loads value at dnSetPosCycleValue_p into the SET integrator. 

dnSetPosCycleValue_p Selection for the master value adjustment in [inc] 

DINT • Load value for the SET integrator (setpoint position for the machine axis). 

bInitActPosCycle 

Initialise ACT integrator with the actual position 

BOOL 

TRUE Loads the actual position dnActPosIn_p into the ACT integrator. 

dnActPosIn_p 

Actual position (from SB LS_Feedback) in [inc] 

DINT 

bResetActToSet 

Delete following error 

BOOL 

TRUE Transmits the value of the SET integrator to the ACT integrator. 

• The output value dnSetPosCycle_p is set to the output value 

dnActPosCycle_p. 

134 1.4 EN - 08/2006 L 

Tool control

Outputs 





bResetSetToAct 

Deletes following error 

BOOL 

TRUE Transmits the value of the ACT integrator to the SET integrator. 

• The output value dnActPosCycle_p is set to the output value 

dnSetPosCycle_p. 

bTpEnable 

Activates touch probe evaluation 

BOOL 

TRUE Touch probe evaluation activated. 

bTpReceived 

Control signal for touch probe correction 

BOOL • Connect this input with the output bTouchProbeReceived of the touch probe 


TRUE Touch probe detected. 

dnTpLastScan_p 

Number of increments counted since touch probe. 

DINT • Connect this input with the output dnTPCaptureValue1 of the touch probe 


dnTpPos_p 

Assigned position of the touch probe sensor in the setpoint cycle in [inc] 

DINT • Value is internally limited to 0 ... 2 x cycle. 

• C05155 indicates the position in the real unit of the machine. 








dnState 


DINT 

Bit 4 Position change per cycle too big 


Bit 12 Initialisation of actual clock 

Bit 13 Initialisation of setpoint clock 

Bit 15 Fault 



Bit 20 Position of the touch probe sensor is beyond the cycle 


motion) 


dnSpeedOut_s 

Speed setpoint for the position follower (SB LS_PositionFollower) for position 

DINT control 

dnSetPosCycle_p 

Setpoint position in the cycle (with clock reference) in [inc] 

DINT • Referring to zero point. 

• C05150 indicates the setpoint position in the real unit of the machine. 

dnActCycle_p 

Actual position in the cycle (with clock reference) in [inc] 

DINT • Referring to zero point. 

• C05151 indicates the actual position in the real unit of the machine. 

dnFollowError_p 

Current following error in [inc] 

DINT • C05152 indicates the following error in the real unit of the machine. 



DINT • For instance to measure the real actual register. 

• C05154 indicates the distance in the real unit of the machine. 

L 1.4 EN - 08/2006 135






Difference between dnTpPos_p and the position measured after detecting a touch 

DINT probe in [inc]. 


Current difference between dnTpPos_p and the position measured after detecting a 

DINT touch probe in [inc]. 

• C05153 indicates the deviation in the real unit of the machine. 

Parameters 


Index 


C05142 -2147483647 2147483647 Status 



C05147 -2147483647 unit/t 2147483647 Correction speed 

• Read only 


dnTpMakeUpLeeway_s. 

C05148 -2147483647 unit/t 2147483647 Input speed 

• Read only 


dnSetSpeedIn_s. 

C05149 -2147483647 unit/t 2147483647 Setpoint speed 

• Read only 


dnSpeedOut_s. 

C05150 -214748.3647 unit 214748.3647 Set position in the cycle 


dnSetPosCycle_p in the real unit of 

the machine. 

C05151 -214748.3647 unit 214748.3647 Actual position in the cycle 


dnActPosCycle_p in the real unit of 

the machine. 

C05152 -214748.3647 unit 214748.3647 Following error 


dnFollowError_p in the real unit of 

the machine. 

C05153 -214748.3647 unit 214748.3647 TP deviation 


dnDifference_p in the real unit of 

the machine. 

C05154 -214748.3647 unit 214748.3647 Tp-Tp distance 


dnTpTpDistance_p in the real unit 


C05155 -214748.3647 unit 214748.3647 TP position 


dnTpPos_p in the real unit of the 

machine. 

136 1.4 EN - 08/2006 L

4.64 L_LdVirtualMasterP - Virtual master for synchronism 




L_LdVirtualMasterP - Virtual master for synchronism 



This FB provides the "Virtual master" function for the "Synchronism" application. 

Inputs 

dnExtMaster_p 

bEnable 

bContinuous 

bCycle 

bManualJogCw 

bManualJogCcw 

dnHandwheel_s 

bStopInstant 

bEnable2ndSpeedSet 

bLoadStartPos 

AxisData 

L_LdVirtualMasterP 

dnState 

bInTarget 

bBusy 

dnPosOut_p 


dnExtMaster_p 

Selection of an external master position in [inc] 

DINT • E.g. through an absolute value encoder. 

• The master position must be inside the cycle. 

• C05028 indicates the external master position in the real unit of the machine. 

bEnable 

Activate master function 


FALSE The input dnExtMaster_p connected 1:1 to the output dnPosOut_p. 

No ramps are active. 

TRUE Ramps are activated. 

TRUE�FALSE Master shaft dnPosOut_p travels via the ramp for permanent 

operation with master speed to the external master position 

dnExtMaster_p. 

• Only a fixed master position can be approached. 

• If the master position changes, bit 29 of the status signal dnState 

will be set. 

bContinuous 

Control - continuous operation/production process 

BOOL • Only possible for the "continuous operation" mode set in C05010. 

TRUE Continuous operation is started, master shaft dnPosOut_p travels 

continuously. 

TRUE�FALSE Continuous operation is stopped, master shaft dnPosOut_p travels 

to the stop position set in C05011. 

bCycle 

Control - single cycle 

BOOL • Only possible for the "inching/single cycle" operating mode set in C05010. 

FALSE�TRUE Cyclic operation of the master shaft dnPosOut_p is started. 

• The master shaft travels to the stop position set in C05011. 

• A renewed cycle must be started with a renewed FALSE�TRUE 

edge. 

L 1.4 EN - 08/2006 137 

Virtual master





bManualJogCw 

bManualJogCcw 

dnHandwheel_s 

bStopInstant 


Outputs 

BOOL 

BOOL 

DINT 

BOOL 

BOOL 

Inching - CW rotation 

• Only possible for the "inching" mode set in C05010. 

TRUE Inching (manual jog) in positive direction. 

Inching - CCW rotation 

• Only possible for the "inching" mode set in C05010. 

TRUE Inching (manual jog) in negative direction. 

Master speed for the handwheel function of the master shaft 

• At this input, the FB expects a speed in [rpm]. The machine parameters at the 


Stop master shaft 

• This input has the second highest priority (after bEnable). 

FALSE�TRUE The master shaft dnPosOut_p is immediately braked to standstill via 

the set stop ramp. 

Change over to second master speed 

FALSE Master speed 1 (C05013/1) is active. 

TRUE Master speed 2 (C05013/2) is active. 

bLoadStartPos 

Set master shaft to starting position 

BOOL 

TRUE Master shaft dnPosOut_p is set to the starting position set in 

C05012. 








dnState 


DINT 


Bit 2 Procedure completed 


Bit 5 Counter-clockwise rotation 


Bit 15 Fault 






Bit 24 Single cycle 

Bit 25 Automatic mode 

Bit 26 Stopping is active 

Bit 27 Manual jog 

Bit 28 Internal setpoint speed is active 

Bit 29 Position difference - external master 

Bit 30 Electronic handwheel is active 

138 1.4 EN - 08/2006 L


bInTarget 

bBusy 

dnPosOut_p 

Parameters 

BOOL 

BOOL 

DINT 




Status signal "Master shaft has reached stop position" 

TRUE Master shaft dnPosOut_p has reached the stop position set in 

C05011. 

Status signal "master shaft is positioned" 

TRUE Master shaft dnPosOut_p is positioned. 




Index 


C05010 Operating mode - virtual master 

0 Continuous operation Lenze setting 

1 Inching 

2 Handwheel function 

C05011 0.0000 unit 214000.0000 Stop position 

• The target position must be inside 

the cycle. 

• Initialisation: 0.0000 unit 

C05012 0.0000 unit 214000.0000 Starting position 

• The starting position must be 

inside the cycle. 

• Initialisation: 0.0000 unit 

C05013/1 -214000.0000 unit/t 214000.0000 Master speed 1 




C05014/1 0.0000 unit/t 214000.0000 Manual speed - CW rotation 


C05014/2 0.0000 unit/t 214000.0000 Manual speed - CCW rotation 


C05015/1 0.010 s 130.000 Ramp for manual jog 


C05015/2 0.010 s 130.000 Ramp for continuous operation/ 

single cycle 


C05015/3 0.010 s 130.000 Ramp for stop 


C05024 -2147483647 2147483647 Status 



C05025 Stop position has been reached 

0 

1 

No 

Yes 

• 

• 

Like output bInTarget 

Read only 

C05026 -214748.3647 unit 214748.3647 Master value cycle 

• Read only 

L 1.4 EN - 08/2006 139





Index 

4.64.1 Functions 




machine. 

C05028 -214748.3647 unit 214748.3647 External master position 


dnExtMaster_p in the real unit of 

the machine. 

Handwheel function 

� Ensures an easy control of a machine run. The clutched drives are interconnected in a 

system. 

� Incremental encoders via DFIN or multiple encoder input. An input must be selected. 

� No ramp functions are active. 

� Function is enabled via the control (PLC) by selecting the "handwheel function" 

operating mode (C05010 ="2") and setting bEnable to TRUE. 

Manual jog (inching) 

� Operation per HMI or keys via control (PLC). The locking is done in the PLC. 

� Ramp functions are active. 

� Parameters are defined once or changed via HMI. 

Single cycle 

� Operation per HMI or keys via control (PLC) 

� Function starts with a FALSE�TRUE edge at the bCycle input. 


� The data for production speed are used as parameters. 

� The cycle starts at the current position and stops at the stop position (C05011). 

Continuous operation 



� Function starts with a FALSE�TRUE edge at the bContinuous input. The function 

remains active as long as the TRUE level is applied. 



� The cycle starts at the current position and stops at the stop position (C05011). 

140 1.4 EN - 08/2006 L

Synchronise virtual master to the external master 




� The virtual master is synchronised to an external position selection. Thus, the 

downstream system can be separated from the external master any time. 

� Application: Modular machines: The external position is delivered by 

– MotionBus (Slave) 

– DFIN/multiple encoder input/FB L_LdSetXAxisVelocity (relative synchronism) 

– Fieldbus as real encoder (must be limited to the cycle set). 

� The function is activated by setting bEnable to TRUE. 

Profile generator/stopping at stop position: 

� The process can be executed via several machine cycles (example: printing machines). 

The setting of the operating time is decisive. 

Load starting position: 

� The starting position set in C05012 is accepted by setting bLoadStartPos to TRUE. 

� For this, the enable input bEnable must be set to TRUE. 


� The master shaft is braked to standstill within the operating time set in C05015/3 

setting bStopInstant to TRUE. 


� This function has the highest priority. 


� By setting bEnable2ndSpeedSet to TRUE, the master speed 1 (C05013/1) is changed to 

master speed 2 (C05013/2). 


L 1.4 EN - 08/2006 141



L_LdVirtualMasterV - Virtual master for electronic gearboxes 

4.65 L_LdVirtualMasterV - Virtual master for electronic gearboxes 




This FB provides the "Virtual master" function for the "Electronic gearbox" application. 

Inputs 

dnExtMaster_s 

bEnable 

bContinuous 

bManualJogCw 

bManualJogCcw 

dnHandwheel_s 

bStopInstant 


AxisData 

L_LdVirtualMasterV 

dnState 

bBusy 

dnSpeedOut_s 


dnExtMaster_s 

Selection of an external master speed, e.g. from an encoder. 



• C05118 indicates the external master speed in the real unit of the machine. 

bEnable 

Activate master function 


FALSE The input dnExtMaster_s is connected through 1:1 to output 

dnSpeedOut_s. No ramps are active. 

TRUE Master shaft dnSpeedOut_s is braked to standstill via the ramp 

function or follows the function selected. 

TRUE�FALSE Master shaft dnSpeedOut_s travels via the ramp for continuous 

operation with master speed dnExtMaster_s. 

bContinuous 

Control - continuous operation/production process 

BOOL • Only possible for the "continuous operation" mode set in C05100. 

TRUE Continuous operation is started, master shaft dnSpeedOut_s travels 

with setpoint speed. 

TRUE�FALSE Continuous operation is stopped, master shaft dnSpeedOut_s is 

braked to standstill via ramp for continuous operation. 

bManualJogCw 

Inching - CW rotation 

BOOL • Only possible for the "inching" mode set in C05100. 

TRUE Inching (manual jog) in positive direction. 

bManualJogCcw 

Inching - CCW rotation 

BOOL • Only possible for the "inching" mode set in C05100. 

TRUE Inching (manual jog) in negative direction. 

dnHandwheel_s 

Master speed for the handwheel function of the master shaft. 



142 1.4 EN - 08/2006 L 

Virtual master


bStopInstant 

Outputs 

Parameters 

BOOL 





• This input has the second highest priority (after bEnable). 

FALSE�TRUE The master shaft dnSpeedOut_s is immediately braked to standstill 

via the set stop ramp. 

bEnable2ndSpeedSet Change over to second master speed 

BOOL 

FALSE Master speed 1 (C05103/1) is active. 

TRUE Master speed 2 (C05103/2) is active. 








dnState 


DINT 



Bit 5 Counter-clockwise rotation 

Bit 15 Fault 




Bit 25 Automatic mode 

Bit 26 Stopping is active 

Bit 27 Manual jog 

Bit 28 Internal setpoint speed is active 

Bit 30 Electronic handwheel is active 

bBusy 

Status signal "Master shaft travels" 

BOOL 

TRUE Master shaft dnSpeedOut_s travels 

dnSpeedOut_s 




Index 


C05100 Operating mode - virtual master 

0 Continuous operation Lenze setting 

1 Inching 

2 Handwheel function 





L 1.4 EN - 08/2006 143





Index 

4.65.1 Functions 

C05104/1 0.0000 unit/t 214000.0000 Manual speed - CW rotation 


C05104/2 0.0000 unit/t 214000.0000 Manual speed - CCW rotation 


C05105/1 0.010 s 130.000 Ramp for manual jog 


C05105/2 0.010 s 130.000 Ramp for continuous operation/ 

single cycle 


C05105/3 0.010 s 130.000 Ramp for stop 


C05114 -2147483647 2147483647 Status 



C05117 -214748.3647 unit 214748.3647 Current master speed 

• Read only 


dnSpeedOut_s. 

C05118 -214748.3647 unit 214748.3647 External master speed 

• Read only 


dnExtMaster_s. 

Handwheel function 

� Ensures an easy control of a machine run. The clutched drives are interconnected in a 

system. 

� Incremental encoders via DFIN or multiple encoder input. An input must be selected. 

� No ramp functions are active. 

� Function is enabled via the control (PLC) by selecting the "handwheel function" 

operating mode (C05100 ="2") and setting bEnable to TRUE. 

Manual jog (inching) 

� Operation per HMI or keys via control (PLC). The locking is done in the PLC. 


� Parameters are defined once or changed via HMI. 

Continuous operation 



� Function starts with a FALSE�TRUE edge at the bContinuous input. The function 

remains active as long as the TRUE level is applied. 



144 1.4 EN - 08/2006 L

Synchronise virtual master to the external master 




� The virtual master is synchronised to an external speed selection. Thus, the 

downstream system can be separated from the external master any time. 

� Application: Modular machines: The external speed is delivered by 

– MotionBus (Slave) as position selection 

– DFIN/multiple encoder input/FB L_LdSetXAxisVelocity (relative synchronism) 

– Fieldbus as real encoder as position selection (must be limited to the cycle set). 

� The function is activated by setting bEnable to TRUE. 


� The master shaft is braked to standstill within the operating time set in C05111 setting 

bStopInstant to TRUE. 


� This function has the highest priority. 


� By setting bEnable2ndSpeedSet to TRUE, the master speed 1 (C05103/1) is changed to 

master speed 2 (C05103/2). 


� The function can be used e.g. for applications with reduced machine speed. 

Second master speed for manual jog 

� A change-over to master speed 2 via input bEnable2ndSpeedSet has also an effect on 

the "Manual jog" function: 

– Master speed 2 supersedes the manual speeds set in C05104/1 and C05104/2. 

– The direction of rotation is defined by the inputs bManualJogCw (positive) or 

bManualJogCcw (negative). 

L 1.4 EN - 08/2006 145



L_LdZeroDetect - Zero crossing detection 

4.66 L_LdZeroDetect - Zero crossing detection 




This FB observes a clocked position and detects zero crossings. 



Inputs 


dnPosIn_p 


DINT 







Outputs 

dnPosIn_p 

AxisData 

L_LdZeroDetect 

dnState 

bZero 


dnState 


DINT 


Bit 15 Fault 



motion) 


bZero 

Status signal "Zero crossing" 

BOOL 

TRUE Zero crossing detected or position = "0" 

146 1.4 EN - 08/2006 L 

0 0

4.67 L_PosDecoderStatePositioner - Positioning status signals 

Function library: LenzePositioning 



L_PosDecoderStatePositioner - Positioning status signals 



This FB decodes the status output signal dnState of SB LS_Positioner into individual 




Inputs 

L_PosDecoderStatePositioner 


bDone 

bAccDec 

bCcw 

bInTarget 

bZeroPos 

bErrActive 

bAbort 

bRev 

bMinSpeedOverride 

bMinAccOverride 

bLimPos 

bLimProfile 

bLimDir 

bLimAbort 


bErrNoHomePos 

bErrNoCycleLength 

bErrMode 

bErrModeChange 

bErrProfileData 

bErrPG 


dnState 

Input for the bit-coded status signal of the basic function "Positioning". 

DINT • Connect this input with the output of the same name of the SB LS_Positioner. 

L 1.4 EN - 08/2006 147 

Positioner state



L_PosDecoderStatePositioner - Positioning status signals 

Outputs 




1 bActive Positioning is active. 

2 bDone Positioning is completed (all profiles have been processed). 



6 bInTarget Set position reached (in case of sequence profiles the drive continues to travel). 

10 bZeroPos Zero crossing 

16 bAbort Positioning is aborted. 

17 bRev Reversing phase is active. 

18 bMinSpeedOverride Speed override ≤1 % 

19 bMinAccOverride Acceleration override ≤1% 

20 bLimPos Position is limited by the basic function "Limiter" (SB LS_Limiter). 

21 bLimProfile Profile data is limited by the basic function "Limiter" (SB LS_Limiter). 

22 bLimDir Direction is inhibited by the basic function "Limiter" (SB LS_Limiter). 

23 bLimAbort Abort by basic function "Limiter" (SB LS_Limiter). 

25 bStoppingActive Stopping is active. 


15 bErrActive Fault is active. 

24 bErrNoHomePos Home position is not known. 

26 bErrNoCycleLength Cycle is not known. 

27 bErrMode Invalid positioning mode. 

28 bErrModeChange Invalid change of positioning mode. 

29 bErrProfileData Profile data is not plausible or faulty. 



148 1.4 EN - 08/2006 L



L_PosDecoderStateSequencer - Status signals of the sequence control 

4.68 L_PosDecoderStateSequencer - Status signals of the sequence control 




This FB decodes the status output signal dnState of FB LS_PosSequencer into individual 




Inputs 


dnState 

Input for the bit-coded status signal of the sequence control. 

DINT • Connect this input with the output of the same name of the FB L_PosSequencer. 

(� 182) 

Outputs 

L_PosDecoderStateSequencer 

dnState bReady 

bStarted 

bPause 

bStop 

bReset 

bErrActive 

bErrBranch 




16 bReady Positioning program ready to start/Program end reached. 

17 bStarted Positioning program is running. 

18 bPause Positioning program is started, pause is active. 

19 bStop Positioning program is stopped. 

20 bReset Positioning program is reset. 


15 bErrActive Fault is active. 

25 bErrBranch Wrong value at branch input. 

22 bWatchDogActive "Watchdog" monitoring function for positioning has been activated. 


L 1.4 EN - 08/2006 149 

Sequencer state 

bWatchDogActive



L_PosGetProfile - Profile data tables 

4.69 L_PosGetProfile - Profile data tables 




Together with an FB instance of type L_PosPositionerTable or L_PosProfileTable this FB 

provides five profile data sets that can be selected. 

Inputs 


dwProfileNumber1...5 

DWORD 

Outputs 

dwProfileNumber1 





FBData 

L_PosGetProfile 

ProfileData1 

ProfileData2 

Number of the profile whose profile data is to be output at ProfileData1 ... 

ProfileData5. 

In connection with an FB instance of type L_PosPositionerTable: 

1 ... 100 Profile 1 ... 100 

In connection with an FB instance of type L_PosProfileTable: 

1 ... 4 Profile 1 ... 4 

FBData Interface for the transmission of the FB instance data. 

• Connect this input with the output of the same name of the FB instance of type 

L_PosPositionerTable or L_PosProfileTable. 


dnState 


DINT 

Bit 15 Fault is active (collective message). 

Bit 16 dwProfileNumber1 is not within the valid range. 





Bit 27 Fault: Invalid FB instance data. 

ProfileData1...5 Profile data of the profile selected via dwProfileNumber1...5. 

150 1.4 EN - 08/2006 L 

1 

2 

3 

... 

PROFILE 

dnState 

ProfileData3 

ProfileData4 

ProfileData5

4.70 L_PosGetProfileData - Profile data output 


This FB outputs the profile data of a profile data set. 

Inputs 

Outputs 



L_PosGetProfileData - Profile data output 



ProfileData 

L_PosGetProfileData 

PROFILE 

PositioningMode 

Position 

Speed 

Acceleration 

Deceleration 

Jerk 

End speed 

Next profile 

Next TP profile 

TP window start 

TP window end 

TP configuration 

Profile number 


ProfileData Interface for the transmission of the profile data set. 


dnState 


DINT 


Bit 29 Fault: Invalid profile data. 

dwPositioningMode 

Positioning mode 

DWORD 

dnTargetPosition_p 

Target position in [inc] 

DINT 

dnSpeed_s 

Traversing speed as speed 

DINT • Scaling: 2 26 ≡ 15000 [rpm] 

dnAcceleration_x 

Acceleration as speed variation/time 

DINT • Scaling: 2 22 ≡ 15000000 [rpm/s] 

dnDeceleration_x 

Deceleration as speed variation/time 

DINT • Scaling: 222 ≡ 15000000 [rpm/s] 

dnJerk 

S-ramp time in [ms] 

DINT 

dnEndSpeed_s 

Final speed as speed 

DINT • Scaling: 2 26 ≡ 15000 [rpm] 

dnState 



dnSpeed_s 



dnJerk 

dnEndSpeed_s 

NextProfileData 

NextTPProfileData 

dnTPWindowStart 

dnTPWindowEnd 

dwTPConfig 

dwProfileNumber 

L 1.4 EN - 08/2006 151



L_PosGetProfileData - Profile data output 


NextProfileData Profile data of the standard sequence profile 

• For profile linkage. 

NextTPProfileData Profile data of the TP sequence profile 

• For touch probe residual path positioning. 


TP window starting position 

DINT 

dnTPWindowEnd 

TP window end position 

DINT 

dwTPConfig 

Touch probe configuration 

DWORD 


Profile number of the profile data set 

DWORD 

152 1.4 EN - 08/2006 L

4.71 L_PosGetTableAcc - Acceleration table 





L_PosGetTableAcc - Acceleration table 


Together with an FB instance of type L_PosPositionerTable this FB provides five 

acceleration values from the VTACC variable table. 

In connection with an FB instance of type L_PosProfileTable it is possible to output the 

acceleration and deceleration values that are directly defined in the profiles. 

Inputs 

dwAccTableNumber1 





FBData 


dwAccTableNumber1...5 

DWORD 

L_PosGetTableAcc 

dnAcceleration1_x 





Number of the table position or profile whose acceleration value is to be output at 

dnAcceleration1_x ... dnAcceleration5_x. 


1 ... 50 Table position 1 ... 50 of the VTACC table 


1 Acceleration of profile 1 




5 Deceleration of profile 1 







L 1.4 EN - 08/2006 153 

1 

2 

3 

... 

ACC 

dnState



L_PosGetTableAcc - Acceleration table 

Outputs 


dnState 


DINT 


Bit 16 dwAccTableNumber1 is not within the valid range. 






dnAcceleration1...5_x Acceleration value parameterised at table position or in profile number 

DINT dwAccTableNumber1...5. 

• Output as speed variation/time 

• Scaling: 2 22 ≡ 15000000 [rpm/s] 

154 1.4 EN - 08/2006 L

4.72 L_PosGetTableJerk - S-ramp time table 





L_PosGetTableJerk - S-ramp time table 


Together with an FB instance of type L_PosPositionerTable this FB provides five S-ramp 

times from the VTJERK variable table. 

In connection with an FB instance of type L_PosProfileTable it is possible to output the Sramp 

times that are directly defined in the profiles. 

Inputs 


dwJerkTableNumber1...5 

DWORD 

Outputs 

dwJerkTableNumber1 





FBData 

L_PosGetTableJerk 

dnJerk1 dnJerk2 

dnJerk3 

dnJerk4 

dnJerk5 

Number of the table position or profile, the speed value of which is to be output at 

dnJerk1 ... dnJerk5. 


1 ... 50 Table position 1 ... 50 of the VTJERK table 


1 ... 4 Profile 1 ... 4 





dnState 


DINT 


Bit 16 dwJerkTableNumber1 is not within the valid range. 






dnJerk1...5_s 

S-ramp time in [ms] parameterised at table position or in profile number 

DINT dwJerkTableNumber1...5. 

L 1.4 EN - 08/2006 155 

1 

2 

3 

... 

JERK 

dnState



L_PosGetTablePos - Position table 

4.73 L_PosGetTablePos - Position table 




Together with an FB instance of type L_PosPositionerTable this FB provides five position 

values from the VTPOS variable table. 


positions that are directly defined in the profiles. 

Inputs 


dwPosTableNumber1...5 

DWORD 

Outputs 

dwPosTableNumber1 





FBData 

L_PosGetTablePos 

dnPosition1_p 

dnPosition2_p 

dnPosition3_p 

dnPosition4_p 

dnPosition5_p 

Number of the table position or profile, the position value of which is to be output 

at dnPosition1_p ... dnPosition5_p. 


1 ... 50 Table position 1 ... 50 of the VTPOS table 


1 ... 4 Profile 1 ... 4 





dnState 


DINT 


Bit 16 dwPosTableNumber1 is not within the valid range. 






dnPosition1...5_p 

Position in [inc] parameterised at table position or in profile number 

DINT dwPosTableNumber1...5. 

156 1.4 EN - 08/2006 L 

1 

2 

3 

... 

POS 

dnState

4.74 L_PosGetTableSpeed - Speed table 





L_PosGetTableSpeed - Speed table 


Together with an FB instance of type L_PosPositionerTable this FB provides five speed 

values from the VTSPEED variable table. 


speed values that are directly defined in the profiles. 

Inputs 


dwSpeedTableNumber1...5 

DWORD 

Outputs 

dwSpeedTableNumber1 





FBData 

L_PosGetTableSpeed 

dnSpeed1_s dnSpeed2_s 

dnSpeed3_s 

dnSpeed4_s 

dnSpeed5_s 

Number of the table position or profile, the speed value of which is to be output at 

dnSpeed1_s ... dnSpeed5_s. 


1 ... 50 Table position 1 ... 50 of the VTSPEED table 


1 ... 4 Profile 1 ... 4 





dnState 


DINT 


Bit 16 dwSpeedTableNumber1 is not within the valid range. 






dnSpeed1...5_s 

Velocity parameterised on table position or in profile number 

DINT dwSpeedTableNumber1...5 is output as speed. 

• Scaling: 2 26 ≡ 15000 [rpm] 

L 1.4 EN - 08/2006 157 

1 

2 

3 

... 

SPEED 

dnState



L_PosPositionerTable - Profile data record management 

4.75 L_PosPositionerTable - Profile data record management 




This FB is used to store and manage (traversing) profiles and to teach positions, speeds, 

accelerations/decelerations and S-ramp times. 

� A profile describes a motion request which can be implemented by the 

SB LS_Positioner into a rotary motion. 

� A profile is described via the following profile parameters: Mode (type of positioning), 

position, speed, acceleration, deceleration, S-ramp time, final speed, standard 

sequence profile, TP sequence profile, TP window starting and end position. 

– For easier handling, the profile parameters position, speed, acceleration/ 

deceleration and S-ramp time are kept in separate tables. 

– Thus, a positioning program for e.g. repeating speeds can always use the same table 

position. If this speed is to be changed, an adjustment of a table position can have an 

effect on several profiles. 

� Another important task of this FB is the conversion of the table values according to the 

scaling selected in the SB LS_DriveInterface. 


bPosTeach 

dwPosTableNumber 

dnPos_p 

bSpeedTeach 

dwSpeedTableNumber 

dnSpeed_s 

bAccTeach 

dwAccTableNumber 

dnAcc_x 

bJerkTeach 

dwJerkTableNumber 

dnJerk 

AxisData 

L_PosPositionerTable 

MODE 

POS 

SPEED 

ACC 

DEC 

JERK 

1 

100 

1 

100 50 

1 

100 50 

1 

100 50 

1 

Profiles 

2 100 

bBusy 

ProfileData 

FBData 

158 1.4 EN - 08/2006 L 

VTPOS 

VTSPEED 

VTACC 

VTJERK 

dnState

Inputs 






Profile selection 

DWORD • Number of the profile the profile parameters of which are to be transferred to the 

SB LS_Positioner via the output ProfileData. 

• If a sequence profile is defined in the selected profile, this profile is only the first 

profile of an arbitrary linkage of profiles. 

1 ... 100 Profile number 

bPosTeach 

"Teach" position 

BOOL 

TRUE The position assigned to the input dnPos_p is stored at the VTPOS 

table position selected via the input dwPosTableNumber. 

TRUE�FALSE The value of the last cycle is maintained in the table. 


Selection of the table position of the position to be "taught" 

DWORD 

0 No selection (selection in case the input is not assigned) 

1 ... 100 Table position 1 ... 100 of the VTPOS table 

dnPos_p 

Position to be "taught" in [inc] 

DINT 

bSpeedTeach 

"Teach" speed 

BOOL 

TRUE The speed assigned to the input dnSpeed_s is stored at the VTSPEED 

table position selected via the input dwSpeedTableNumber. 


dwSpeedTableNumber Selection of the table position for the speed to be "taught" 

DWORD 


1 ... 50 Table position 1 ... 50 of the VTSPEED table 

dnSpeed_s 

Speed to be "taught" 

DINT • At this input, the FB expects a speed. The machine parameters at the input 

AxisData are used as speed reference. 

• Scaling: 2 26 ≡ 15000 [rpm] 

bAccTeach 

"Teach" acceleration/deceleration 

BOOL 

TRUE The acceleration/deceleration assigned to the input dnAcc_s is 

stored at the VTACC table position selected via the input 

dwAccTableNumber. 


dwAccTableNumber 

Selection of the table position for the acceleration/deceleration speed to be "taught" 

DWORD 


1 ... 50 Table position 1 ... 50 of the VTACC table 

dnAcc_x 

Acceleration/deceleration to be "taught" 

DINT • At this input, the FB expects a speed variation/time. The machine parameters at 

the input AxisData are used as acceleration reference. 

• Scaling: 2 22 ≡ 15000000 [rpm/s] 

bJerkTeach 

"Teach" S-ramp time 

BOOL 

TRUE The S-ramp time assigned to the input dnJerk is stored at the VTJERK 

table position selected via the input dwJerkTableNumber. 


dwJerkTableNumber 

Selection of the table position for the S-ramp time to be "taught" 

DWORD 


1 ... 50 Table position 1 ... 50 of the VTJERK table 

L 1.4 EN - 08/2006 159





dnJerk 

S-ramp time to be "taught" in [ms] 

DINT 







Outputs 


dnState 


DINT 

Bit 15 Fault is active. 

Bit 16 Calculation is active. 

Bit 17 Position taught. 

Bit 18 Speed taught. 

Bit 19 Acceleration taught. 

Bit 20 S-ramp time taught. 

Bit 28 Fault: Invalid machine parameters (AxisData). 

Bit 29 Fault: Invalid profile number (dwProfileNumber). 

Bit 30 Fault: Invalid teach-profile number. 

bBusy 

Status signal "Conversion of the profile parameter is active" 

BOOL 

FALSE Profile parameters are ready. 

TRUE Conversion is active, no access possible to the profile parameters at 

the moment. 

ProfileData Interface to basic function "Positioning" 

• Data structure with the profile parameters of the profile selected via the input 

dwProfileNumber. 

• Connect this output with the input of the same name of the SB LS_Positioner. 

FBData FB interface for internal profiles/table data (L_PosGetProfile, L_PosGetTableAcc, 

L_PosGetTableJerk, L_PosGetTablePos, L_PosGetTableSpeed) 

• Data structure with the internal instance data. 

Parameters 


C04700/1 "Teach" position 

0�1 The position assigned to the input 

dnPos_p is stored at the VTPOS table 

position selected via the input 

dwPosTableNumber. 

• For execution via parameter 

channel. 

C04700/2 "Teach" speed 

0�1 The speed assigned to the input 

dnSpeed_s is stored at the VTSPEED 

table position selected via the input 

dwSpeedTableNumber. 


channel. 

160 1.4 EN - 08/2006 L




C04700/3 Teach acceleration 

0�1 The acceleration/deceleration 

assigned to the input dnAcc_s is 

stored at the VTACC table position 

selected via the input 



channel. 

C04700/4 "Teach" S-ramp time 

0�1 The S-ramp time assigned to the 

input dnJerk is stored at the VTJERK 

table position selected via the input 

dwJerkTableNumber. 


channel. 

C04701/1...100 -214748.3648 unit 214748.3648 VTPOS: variable positions 

• For the selection of the target 

positions and the TP window 

starting or end positions for the 

profiles. 

C04702/1...50 -214748.3648 unit/s 214748.3648 VTSPEED: variable speeds 

• For the selection of the traversing 

and final speeds for the profiles. 

C04703/1...50 -214748.3648 unit/s2 Parameters Possible settings Information 

214748.3648 VTACC: variable accelerations 

• For the selection of the 

accelerations and decelerations 

for the profiles. 

C04704/1...50 -2147483.648 s 2147483.648 VTJERK: variable S-ramp times 

• For the selection of the S-ramp 

times for the profiles. 

C04705/1 DIS:bPosTeach 

0 FALSE 


bPosTeach. 

1 TRUE 

C04705/2 DIS:bSpeedTeach 

0 FALSE 


bSpeedTeach. 

1 TRUE 

C04705/3 DIS:bAccTeach 

0 FALSE 


bAccTeach. 

1 TRUE 

C04705/4 DIS:bJerkTeach 

0 FALSE 


bJerkTeach. 

1 TRUE 

C04706/1 0 100 DIS:VTPosNum 


dwPosTableNumber. 

C04706/2 0 100 DIS:VTSpeedNum 


dwSpeedTableNumber. 

C04706/3 0 100 DIS:VTAccNum 



C04706/4 0 100 DIS:VTJerkNum 


dwJerkTableNumber. 

C04706/5 0 100 DIS:ProfileNum 



L 1.4 EN - 08/2006 161




C04707/1 -214748.3648 unit 214748.3648 DIS:dnTeachPos 


dnPos_p in the real unit of the 

machine. 

C04707/2 -214748.3648 unit/s 214748.3648 DIS:dnTeachSpeed 


dnSpeed_s in the real unit of the 

machine. 

C04707/1 -214748.3648 unit/s2 Parameters Possible settings Information 

214748.3648 DIS:dnTeachAcc 


dnAcc_x in the real unit of the 

machine. 

C04707/1 -214748.3648 s 214748.3648 DIS:dnTeachJerk 

• Display of the input signal dnJerk 

in the real unit of the machine. 

C04708 -2147483647 2147483647 Status 



C04710/1...100 

(Subcode 1 ... 100 ≡ profile no. 1 ... 100) 

C04711/1...100 


C04712/1...100 


C04713/1...100 


1 Absolute 

2 Absolute TP 

5 Relative 

6 Relative TP 

7 Speed 

8 Speed TP 

11 Absolute CW 

12 Absolute CW TP 

13 Absolute CCW 

14 Absolute CCW TP 

15 Absolute shortest way 

16 Absolute shortest way TP 

1 VTPOS position 1 (C04701/1) 


... ... 


1 VTSPEED position 1 (C04702/1) 


... ... 


1 VTACC position 1 (C04703/1) 


... ... 



• For absolute positioning, the 

home position must be known. 

Position from VTPOS 

• Reference to VTPOS table position 

to define the profile parameter 

"Position". 

Speed from VTSPEED 

• Reference to VTSPEED table 

position to define the profile 

parameter "Speed". 

Acceleration from VTACC 

• Reference to VTACC table position 


"Acceleration". 

162 1.4 EN - 08/2006 L

C04714/1...100 


C04715/1...100 


C04716/1...100 


C04717/1...100 






C04718/1...100 


C04719/1...100 


C04720/1...100 




... ... 


1 VTJERK position 1 (C04704/1) 


... ... 




... ... 




... ... 




... ... 


1 Profile no. 1 

... ... 


0 No sequence profile 

(end of a profile chaining) 


... ... 


Deceleration from VTACC 

• Reference to VTACC table position 


"Deceleration". 

S-ramp time from VTJERK 

• Reference to VTJERK table 


parameter "S-ramp time". 

Final speed from VTSPEED 

• Reference to VTSPEED table 


parameter "Final speed". 

• A sequence profile must be 

available. 

TP window starting position from 

VTPOS 



"TP window starting position". 

• With a position value "0" the 

starting position equals the 

negative travel range limit. 

TP window end position from VTPOS 



"TP window end position". 

• With a position value "0" the end 

position equals the positive travel 

range limit. 

Sequence profile with TP 

• Sequence profile for touch probe 

residual path positioning. 

Sequence profile without TP 

• Sequence profile for profile 

chaining. 

L 1.4 EN - 08/2006 163





C04721/1...100 


Value is bit-coded: Touch probe configuration 

• The touch probe channels to be 

used are selected by setting the 

corresponding bits to "1". 

Bit 0 TP channel 1, rising edge Digital input 1 

Bit 1 TP channel 1, falling edge 















Bit 16 TP channel 9 Motor encoder zero pulse 

Bit 17 TP channel 10 Load encoder zero pulse 

Bit 18 TP channel 11 DFIN zero pulse 

Bit 19 TP channel 12 DFOUT zero pulse 

164 1.4 EN - 08/2006 L

4.75.1 Variable tables 




To simplify parameter handling, the four most important physical sizes for profile 

parameters are stored in separate "variable tables". 

VTPos 

Positions 

VTSpeed 

Speeds 

A value is assigned to a profile parameter by a reference to a table position of the assigned 

variable table. So, not the value but the table position which contains the value to be used 

is entered in the profile parameter. 

[4-1] Principle: References to variable tables (here: References to VTSPEED) 

VTAcc 

Acceleration/ 

deceleration 

VTJerk 

S-ramp times 

Unit unit unit/s unit/s 2 

s 

Data format DINT with four decimal positions 

Memory locations 100 50 50 50 

Code C04701/1...100 C04702/1...50 C04703/1...50 C04704/1...50 

For profile 

Target position 

Speed 

Acceleration 

S-ramp time 

parameters 

TP window starting position 


Final speed 

Deceleration 

Mode 

Position 

Speed 

Acceleration 

Deceleration 

Jerk time 

End speed 

TP window start position 



Next profile 

Mode 

Position 

Speed 

Acceleration 

Deceleration 

Jerk time 

End speed 

TP window start position 



Next profile 

Profile 1 

3 

3 

1 

1 

2 

1 

50 

6 

7 

12 

2 

Profile 2 

4 

4 

2 

1 

3 

1 

50 

6 

8 

13 

5 

� In case of several references to the same table position, a change of the value in this 

table position affects several profiles at the same time. Thus, recurring profile 

parameters only need to be changed on one position. 

� If e.g. in case of a profile chaining, several profiles are to be executed with the same 

speed, the corresponding profile parameters "speed" can all refer to the same table 

position. 

L 1.4 EN - 08/2006 165 

VTPOS 

VTACC 

VTACC 

VTJERK 

VTPOS 

VTPOS 

VTPOS 

VTACC 

VTACC 

VTJERK 

VTPOS 

VTPOS 

1 

2 

... 

100 

1 

2 

... 

50 

1 

2 

... 

50 

1 

2 

... 

50 

VTPOS 

VTSPEED 

200 [unit]/s 

400 [unit]/s 

50 [unit]/s 

VTACC 

VTJERK




Conversion of the values into internal values 

The values of the variable tables VTPOS, VTSPEED, VTACC and VTJERK are always entered 

in the application unit [unit]. 

� Since the SB LS_Positioner needs the profile parameters in the internal measuring 

system, the FB L_PosPositionerTable also stores the values of the variable tables in this 

measuring system. 

� The values must only be reconverted by the FB if the machine parameters transmitted 

by the drive interface via the input AxisData have changed. 

– In this case the output bBusy is set to TRUE during the conversion and an access to 

the profile parameters is not possible. 

� Note! 

4.75.2 "Teach" function 

Exceptions are the values to be "taught". These must be selected in the internal 


In addition to the direct value entry via parameters, the values can also be stored in the 

variable tables by means of the "teach" function. 

The "teaching" of a value can be activated via an FB input or by describing a parameter (e.g. 

by master control): 

DIGIN_bInX 

CAN 

Powerlink 

Profibus 

Cxxxxx 

CAN 

Powerlink 

Profibus 

dnActualPos_p 

CAN 

Powerlink 

Profibus 

MUX 

MUX 

MUX 

dnPos_p 

[4-2] Principle of the "teach" function (here: "teaching" of positions) 

bPosTeach C04700/1 


L_PosPositionerTable 

"Teach position" 

�1 

166 1.4 EN - 08/2006 L 

0 

1 

2 

100 

1 

2 

... 

100 

VTPOS 

200 [unit]/s

4.75.3 Positioning modes 




Depending on the traversing range/application, you can select between different 

positioning modes which are described in the below table. 

� Note! 

For absolute positioning, the home position must be known! 

If an absolute positioning process (positioning modes 1 ... 2 and 11 ... 16) is 

started although the home position is not known, a fault message occurs. 

• In this case a programming error has occurred and the program flow must be 

reset. 

• If the error only occurs in a sequence profile, the last valid deceleration is used 

to decelerate the drive to standstill. 


1 Absolute 

The axis travels to an absolute position. 

• Reference for the absolute position is zero position. 

• The home position must be known. 

• The traversing range is limited: 

– to 214748.3647 [unit] 

– by the internal display area (±2 31 increments) 

• Not possible with "modulo" traversing range. 

2 Absolute TP 

Like mode 1, but with profile change on touch probe detection. 

�Touch probe positioning. (� 169) 

5 Relative 

The axis is traversed by a distance. 

• Reference for the distance is the target position of the profile executed before. 

• The feed per positioning is limited: 

– to 214748.3647 [unit] 

– by the internal display area (±231 increments) 

6 Relative TP 



7 Speed 

Continuous constant travel. 

• Only possible with "unlimited" and "limited" traversing range 

• This mode does not approach a defined position, but follows the profile. 

• Acceleration and deceleration are based on profile values. 

• The traversing direction is defined by the sign of the traversing speed. 

• Stopped through break signal. 

8 Speed TP 




The axis travels in CW direction to an absolute position. 

• Only possible with "modulo" traversing range 


• In this direction the zero position of the axis can be overtravelled. 




L 1.4 EN - 08/2006 167






The axis travels in CCW direction to an absolute position. 








The axis travels in best time to an absolute position. 



• The rotary table positioning is basically an absolute positioning with target positions between 0 and 360 

angular degree [°]. In this mode the zero point can also be overtravelled if this is the shortest way to the 

target position: 




168 1.4 EN - 08/2006 L 

300° 

240° 

360°/0° 

180° 

60° 

120°

4.75.4 Touch probe positioning 




With touch probe positioning, the profile is first processed according to the set profile 

parameters. If a touch probe is detected during profile processing, the profile automatically 

changes to the profile specified under the profile parameter "TP sequence profile". 

� Here the current actual position is stored at the time of the touch probe activation (by 

a touch probe sensor). 

� In the following relative positioning process, the "residual path" to this stored position 

is travelled according to the increments. 

v [m/s] 

v [m/s] 

� 

Touch probe 

� 

Touch probe 

� "Starting profile" 

� "Residual path profile" that is defined in the profile parameter "TP sequence profile" of the starting profile. 

[4-3] Examples for a "residual path positioning" after a touch probe is detected 

� 

� The profile parameters "TP window starting position" and "TP window end position" 

the range in which touch probes are to be detected can be restricted. 

– If both profile parameters = "0", touch probe detection will be active for the whole 

profile/the whole traversing range. 

� If no touch probe is detected and after the profile is executed, the positioning is 

continued with the profile defined in the profile parameter "Sequence profile without 

TP" (profile chaining). 

� Note! 

Profile 4 Profile 7 

L 1.4 EN - 08/2006 169 

� 


t [s] 

t [s] 

� 

Mode 

Position 

Speed 

... 


Next profile 

Profile 4 

7 

� 

Mode 

Position 

Speed 

... 


Next profile 

Profile 7 

If a profile is travelled with high speed and touch probe positioning is started, 

the residual path of which is smaller than the result from current speed and set 

deceleration ramp, the target position is "overtravelled". 

• Normally a reversing movement occurs, i.e. the drive returns. 

• If, for instance, a CCW rotation of the drive is forbidden by the safety module, 

the target cannot be approached since in this case the reversing movement is 

not permissible. 

Further constellations are possible in connection with profile chaining in which 

an approach of the target position is impossible.





The touch probe channel for positioning with touch probe detection can be selected in the 

»Engineer« via the parameter dialog of the FB L_PositionerTable. 

� Go to the parameter dialog of the FB L_PositionerTable and press the Setting up touch 

probe button to open the Setting up touch probe dialog box and select the desired 

setting for the corresponding profile. 

� The setting selected in this parameter dialog has a direct effect on the setting of 

C04721/1...100 ("touch probe configuration") and vice versa. 

� For a direct setting of C04721/1...100 (e.g. with keypad) the following table lists the 

corresponding decimal values for all possible configurations. 

Selection 

Touch probe response 

Touch probe channel 

Positive edge Negative edge Both edges 

DIGIN 1 1 2 3 

DIGIN 2 4 8 12 

DIGIN 3 16 32 48 

DIGIN 4 64 128 192 

DIGIN 5 256 512 768 

DIGIN 6 1024 2048 3072 

DIGIN 7 4096 8192 12288 

DIGIN 8 16384 32768 49152 

Motor encoder zero pulse 65536 

Load encoder zero pulse 262144 

� Example: For the selection of the touch probe channel "DIGIN 8" and the response to a 

positive edge only, the decimal value "16384" must be set in C04721. 

170 1.4 EN - 08/2006 L

4.76 L_PosProfileInterface - Profile data interface 


This FB provides a profile data record for the SB LS_Positioner. 

Inputs 



L_PosProfileInterface - Profile data interface 





dnSpeed_s 



dnJerk 

dnEndSpeed_s 




dnTPWindowEnd 

dwTPConfig 


L_PosProfileInterface 

ProfileData 




DWORD • For absolute positioning, the home position must be known! 

1 Absolute 

2 Absolute TP 

5 Relative 

6 Relative TP 

7 Speed 

8 Speed TP 








Target position in [inc] 

DINT 

dnSpeed_s 

Speed 

DINT • Entry as speed 

• Scaling: 2 26 ≡ 15000 [rpm] 


Acceleration 

DINT • Entry as speed variation/time 

• Scaling: 2 22 ≡ 15000000 [rpm/s] 

L 1.4 EN - 08/2006 171



L_PosProfileInterface - Profile data interface 



dnJerk 

dnEndSpeed_s 


Outputs 

DINT 

DINT 

DINT 

ProfileData 


ProfileData 


dnTPWindowEnd 

dwTPConfig 


DINT 

DINT 

DWORD 

DINT 

Deceleration 

• Entry as speed variation/time 

• Scaling: 2 22 ≡ 15000000 [rpm/s] 

S-ramp time in [ms] 

Final speed 

• Entry as speed 

• Scaling: 2 26 ≡ 15000 [rpm] 

Profile data of the sequence profile without TP (for profile chaining) 

• This input can be connected e.g. with the output ProfileData of another instance 

of the FB L_PosProfileInterface. 

• Profile data of the sequence profile with TP (for touch probe residual path 

positioning) 

• This input can be connected e.g. with the output ProfileData of another instance 

of the FB L_PosProfileInterface. 

Area start for touch probe detection 

Area end for touch probe detection 


Number assigned to the profile. 

• This number is displayed at the SB LS_Positioner. 


ProfileData Profile data for the SB LS_Positioner 

172 1.4 EN - 08/2006 L



L_PosProfileTable - Profile data record management (simple) 

4.77 L_PosProfileTable - Profile data record management (simple) 




This FB is used to store and manage up to four traversing profiles and to "teach" target 

positions. 

� A profile describes a motion request which then can be implemented by the 

SB LS_Positioner into a rotary motion. 

� A profile is described via the following profile parameters: Mode (type of positioning), 

position, speed, acceleration, deceleration, S-ramp time, TP sequence profile and TP 

selection. 

� Unlike the FB L_PosPositionerTable, this FB does not use any variable tables, but profile 

parameter data is directly entered under the assigned codes. 

� Furthermore, the position assigned to the input dnExtPos_p will be used as target 

position if profile number 1 is selected. 

� Another important task of this FB is the conversion of the table values according to the 

scaling selected in the SB LS_DriveInterface. 

Inputs 


dnExtPos_p 

bPosTeach 

dwTeachProfileNumber 

dnTeachPos_p 

AxisData 

L_PosProfileTable 

MODE 

POS 

SPEED 

ACC 

Profiles 

1 2 3 

bBusy 

ProfileData 



Profile selection 

DWORD • Number of the profile the profile parameters of which are to be transferred to the 

SB LS_Positioner via the output ProfileData. 

1 ... 4 Profile number 

dnExtPos_p 

External target position in [inc] for profile number 1 

DINT 

bPosTeach 

"Teach" position 

BOOL 

TRUE The position assigned to the input dnTeachPos_p is stored in the 

profile selected via the input dwTeachProfileNumber. 


dwTeachProfileNumber Selection of the profile for the position to be "taught" 

DWORD 


1 No selection (the position selected via the input dnExtPos_p will be 

used as target position for profile number 1.) 

2 ... 4 Profile 2 ... 4 

L 1.4 EN - 08/2006 173 

4 

dnState 

FBData





dnTeachPos_p 

Position to be "taught" in [inc] 

DINT 







Outputs 


dnState 


DINT 


Bit 16 Calculation is active. 

Bit 17 Position taught. 

Bit 28 Fault: Invalid machine parameters (AxisData). 

Bit 29 Fault: Invalid profile number (dwProfileNumber). 

Bit 30 Fault: Invalid teach-profile number. 

bBusy 

Status signal "Conversion of the profile parameter is active" 

BOOL 

FALSE Profile parameters are ready. 

TRUE Conversion is active, no access possible to the profile parameters at 

the moment. 

ProfileData Interface to basic function "Positioning" 

• Data structure with the profile parameters of the profile selected via the input 


• Connect this output with the input of the same name of the SB LS_Positioner. 

FBData FB interface for internal profiles/table data (L_PosGetProfile, L_PosGetTableAcc, 

L_PosGetTableJerk, L_PosGetTablePos, L_PosGetTableSpeed) 

• Data structure with the internal instance data. 

Parameters 


C04750/1...4 


C04751/1...4 


1 Absolute 

2 Absolute TP 

5 Relative 

6 Relative TP 

7 Speed 

8 Speed TP 







-214748.3647 unit 214748.3647 Position 


• For absolute positioning, the 

home position must be known. 

174 1.4 EN - 08/2006 L

C04752/1...4 


C04753/1...4 


C04754/1...4 


C04755/1...4 


C04756/1...4 


C04757/1...4 






-214748.3647 unit/t 214748.3647 Speed 

0.0000 unit/t 2 

0.0000 unit/t 2 

214748.3647 Acceleration 

214748.3647 Deceleration 

0.0000 s 214748.3647 S-ramp time 

0 No residual path positioning 


... ... 


TP sequence profile 

• Sequence profile for touch probe 

residual path positioning. 

Value is bit-coded: Touch probe configuration 

• The touch probe channels to be 

used are selected by setting the 

corresponding bits to "1". 

















Bit 16 TP channel 9 Motor encoder zero pulse 

Bit 17 TP channel 10 Load encoder zero pulse 

Bit 18 TP channel 11 DFIN zero pulse 

Bit 19 TP channel 12 DFOUT zero pulse 

C04758 "Teach" position 

0�1 The position assigned to the input 

dnTeachPos_p is stored in the profile 

selected via the input 

dwTeachProfileNumber. 


channel. 

C04760/1 -214748.3647 unit 214748.3647 External target position 


dnExtPos_p in the real unit of the 

machine. 

C04760/2 -214748.3647 unit 214748.3647 Teach position 


dnTeachPos_p in the real unit of 

the machine. 

L 1.4 EN - 08/2006 175





C04761/1 0 4 Selected profile 



C04761/2 0 4 Selected teach profile 


dwTeachProfileNumber. 

C04763 DIS:bPosTeach 

0 FALSE 


bPosTeach. 

1 TRUE 

C04764 DIS:bBusy 

4.77.1 Profile data table 

0 Profile parameters are ready. 

1 Conversion is active, no access 

possible to the profile parameters at 

the moment. 

Profile parameter data is directly entered under the assigned codes. 

� Exception: The position assigned to the input dnExtPos_p will be used as target 

position if profile number 1 is selected. 

Conversion of the values into internal values 


bBusy. 

C04765 -2147483647 2147483647 Status 



Profile parameters Unit Profile no. 1 Profile no. 2 Profile no. 3 Profile no. 4 

Positioning mode - C04750/1 C04750/2 C04750/3 C04750/4 

Position unit dnExtPos_p C04751/2 C04751/3 C04751/4 

Speed unit/t C04752/1 C04752/2 C04752/3 C04752/4 

Acceleration unit/t 2 

C04753/1 C04753/2 C04753/3 C04753/4 

Deceleration unit/t 2 

C04754/1 C04754/2 C04754/3 C04754/4 

S-ramp time s C04755/1 C04755/2 C04755/3 C04755/4 

TP sequence profile - C04756/1 C04756/2 C04756/3 C04756/4 

TP selection - C04757/1 C04757/2 C04757/3 C04757/4 

The profile parameters are always entered in the application unit [unit]. 

� Since the SB LS_Positioner needs the profile parameters in the internal measuring 

system, the FB L_PosProfileTable also stores the values in this measuring system. 

� The values must only be reconverted by the FB if the machine parameters transmitted 

by the drive interface via the input AxisData have changed. 

– In this case the output bBusy is set to TRUE during the conversion and an access to 

the profile parameters is not possible. 

176 1.4 EN - 08/2006 L

� Note! 




Exceptions are the values to be "taught". These must be selected in the internal 


L 1.4 EN - 08/2006 177




4.77.2 "Teach" function 

In addition to the direct value entry via parameters, the target position for a profile can also 

be stored by means of the "teach" function. 

The "teaching" of a value can be activated via an FB input or by describing a parameter (e.g. 

by master control): 

DIGIN_bInX 

CAN 

Powerlink 

Profibus 

Cxxxxx 

CAN 

Powerlink 

Profibus 

dnActualPos_p 

CAN 

Powerlink 

Profibus 

[4-1] "Teach" function principle 

MUX 

MUX 

MUX 

dnExtPos_p 

bPosTeach 

dwTeachProfileNumber 

dnTeachPos_p 

L_PosProfileTable 

C04758 �1 "Teach position" 

178 1.4 EN - 08/2006 L 

0 

1 

2 

3 

4 

1 

2 

3 

4 

POS 

200 [unit]/s

4.77.3 Positioning modes 




Depending on the traversing range/application, you can select between different 

positioning modes which are described in the below table. 

� Note! 

For absolute positioning, the home position must be known! 

If an absolute positioning process (positioning modes 1 ... 2 and 11 ... 16) is 

started although the home position is not known, a fault message occurs. 

• In this case a programming error has occurred and the program flow must be 

reset. 

• If the error only occurs in a sequence profile, the last valid deceleration is used 

to decelerate the drive to standstill. 


1 Absolute 

The axis travels to an absolute position. 


• The home position must be known. 

• The traversing range is limited: 

– to 214748.3647 [unit] 

– by the internal display area (±2 31 increments) 

• Not possible with "modulo" traversing range. 

2 Absolute TP 



5 Relative 

The axis is traversed by a distance. 

• Reference for the distance is the target position of the profile executed before. 

• The feed per positioning is limited: 

– to 214748.3647 [unit] 

– by the internal display area (±231 increments) 

6 Relative TP 



7 Speed 

Continuous constant travel. 

• Only possible with "unlimited" and "limited" traversing range 

• This mode does not approach a defined position, but follows the profile. 

• Acceleration and deceleration are based on profile values. 

• The traversing direction is defined by the sign of the traversing speed. 

• Stopped through break signal. 

8 Speed TP 




The axis travels in CW direction to an absolute position. 







L 1.4 EN - 08/2006 179






The axis travels in CCW direction to an absolute position. 








The axis travels in best time to an absolute position. 



• The rotary table positioning is basically an absolute positioning with target positions between 0 and 360 

angular degree [°]. In this mode the zero point can also be overtravelled if this is the shortest way to the 

target position: 




180 1.4 EN - 08/2006 L 

300° 

240° 

360°/0° 

180° 

60° 

120°

4.77.4 Touch probe positioning 




With touch probe positioning, the profile is first processed according to the set profile 

parameters. If a touch probe is detected during profile processing, the profile automatically 

changes to the profile specified under the profile parameter "TP sequence profile". 

� Here the current actual position is stored at the time of the touch probe activation (by 

a touch probe sensor). 

� In the following relative positioning process, the "residual path" to this stored position 

is travelled according to the increments. 

v [m/s] 

v [m/s] 

� 

Touch probe 

� 

Touch probe 

� "Starting profile" 

� "Residual path profile" that is defined in the profile parameter "TP sequence profile" of the starting profile. 

[4-2] Examples for a "residual path positioning" after a touch probe is detected 

� 

� If no touch probe is detected, positioning stops after profile processing without profile 

linkage. 

� Note! 


L 1.4 EN - 08/2006 181 

� 


t [s] 

t [s] 

� 

Profile 2 

Mode 

Position 

Speed 

... 

Next TP profile 4 

� 

Mode 

Position 

Speed 

... 


Profile 4 

If a profile is travelled with high speed and touch probe positioning is started, 

the residual path of which is smaller than the result from current speed and set 

deceleration ramp, the target position is "overtravelled". 

• Normally a reversing movement occurs, i.e. the drive returns. 

• If, for instance, a CCW rotation of the drive is forbidden by the safety module, 

the target cannot be approached since in this case the reversing movement is 

not permissible. 

Further constellations are possible in connection with profile chaining in which 

an approach of the target position is impossible.



L_PosSequencer - Sequence control 

4.78 L_PosSequencer - Sequence control 




This FB processes a positioning program based on a sequence table. 

� The sequence table is an important part of this FB and is indicated by a code with 100 

subcodes. Each subcode contains a reference to a single program segment, also known 

as "action". 

� Different action types are available which serve to implement, for instance, program 

branching, switching operations, waiting times and counters. The actions themselves 

are also indicated by codes. 

� Note! 

For a complete sequence control, the FB L_PosSequencer must be connected 

with further blocks, like the FB L_PosPositionerTable (profile data record 

management) and the SB LS_Positioner (basic function "positioning"). 

bStart 

bPause 

bCancel 

bBreak 

bReset 

bProfileDone 

bHomingDone 

dwStartStep 

dwBranch1 

dwBranch2 

dwBranch3 

dwBranch4 

dwBranch5 

dwDigitalInputs 

L_PosSequencer 

182 1.4 EN - 08/2006 L 

dnState 

bProgramBusy 

dwActStep 

bEnablePositioner 

bStartProfile 

bAbortProfile 

bRestartProfile 


bEnableHoming 

bActivateHoming 

bEnableFollower 

dwDigitalOutputs

Inputs 





bStart 

Start/continue positioning program 

BOOL • Display parameter: C04690/2 

FALSE�TRUE The positioning program is started/continued. 

• Counters and outputs are not automatically reset by this. 

• A positioning program interrupted by bBreak is continued with 

the sequence step. 

TRUE If bStart remains on TRUE, the started positioning program 

automatically starts at the beginning when the program end has 

been reached. 

TRUE�FALSE The started positioning program is processed until the program end, 

but after this there is no automatic start from the beginning. 

bPause 

Interrupt the current step of the positioning program 


TRUE • An active positioning is interrupted. 

– The drive is stopped with the current profile deceleration. 

– An acceleration override is not considered. 

• The sequence of an active timing element is stopped. 

FALSE • The interrupted positioning is completed. 

– The distance of the profile already covered is considered here. 

• The deceleration of the stopped timing element is continued with 

the residual time. 

bCancel 

Cancel the current step and jump to the step defined in C04504 


FALSE�TRUE The current step of the positioning program is cancelled 

immediately and the positioning program is continued with the step 

defined in C04504. 

bBreak 

Interrupt positioning program 

BOOL • This input is intended for a linkage with drive-relevant status signals (e.g. for 

controller inhibit or quick stop). 

• If the interruption is cancelled again by a reset to FALSE, a new FALSE/TRUE edge 

is required at bStart so that the positioning program can be continued with the 

sequence step. 

• Display parameter: C04690/4 

FALSE Condition for the program start via bStart. 

TRUE The active positioning program is interrupted. 

• If positioning is active, the drive is braked to standstill with the 

deceleration time for stop. 

• The system block LS_Positioner is deactivated. 

• The system block LS_Homing is deactivated. 

• The setpoint followers are deactivated. 

• The digital output signals keep their state. 

bReset 

Reset positioning program. 

BOOL • Also possible when the positioning program is interrupted. 


FALSE�TRUE The positioning program is reset. 

• If positioning is active, the drive is braked to standstill with the 

deceleration time for stop without considering an acceleration 

override. 

• The program flow is aborted ("program end"). 

• The digital output signals, counters and timing elements are 

reset. 

• In case a stand-by operation is active, it is aborted. 

L 1.4 EN - 08/2006 183





bProfileDone 

Interface to basic function "Positioning" 

BOOL • Input for status signal "Profile has been executed". 

• Connect this input with the status output of the same name of the 

SB LS_Positioner. 


bHomingDone 

Interface to basic function "Homing" 

BOOL • Input for status signal "Homing completed". 

• Connect this input with the status output of the same name of the 

SB LS_Homing. 


dwStartStep 

Step of the sequence table with which the positioning program is to start. 

DWORD • Display parameter: C04692/6 

0 Positioning program starts with step 1 of the sequence table. 

1... 100 Starting step 

other Positioning program does not start. 

Not assigned Positioning program starts with step 1 of the sequence table. 

dwBranch1 

Input signal for action 1 of type "Variable branch" 


• If the positioning program contains the action 1 of type "Variable branch", a 

branch is carried out depending on the value applied to this input. 

0 Branch to the next step. 

1 Branch to the step defined in C04540/1. 


... ... 


> 20 Branch to the next step. 

dwBranch2 








... ... 



dwBranch3 








... ... 



184 1.4 EN - 08/2006 L





dwBranch4 








... ... 



dwBranch5 








... ... 



dwDigitalInputs 

Sequencer inputs 1 ... 32 (bit coded) 

DWORD • The action types "Positioning", Branching", "Waiting" and "Stand-by" have the 

parameter "Input for...". If this is non-zero, it describes the number of the 

sequencer input where the positioning program awaits the level defined before 

it executes the action. 

• For the transmission of individual control signals a BOOL-to-DWORD converter 

can be connected to this input. 


Bit 0 Sequencer input 1 


... ... 


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Outputs 


dnState 


DINT • Display parameter: C04691 


Bit 16 READY: Positioning program is ready to start/program end has been 

reached. 

Bit 17 RUN: Positioning program is running. 

Bit 18 PAUSE: Positioning program is started, pause is active. 

Bit 19 BREAK: Positioning program has been stopped. 

Bit 20 RESET: Positioning program has been reset. 

Bit 22 "Watchdog" monitoring function for positioning has been activated. 

Bit 25 Wrong value at branch input. 

bProgramBusy 

Status signal "Positioning program is running" 


FALSE Positioning program has not been started or stopped. 

TRUE Positioning program is running. 

dwActStep 

Current step which is processed by the positioning program. 

DWORD • Display parameter: C04501 

0 Positioning program has not been started. 

1 ... 100 Current step 

bEnablePositioner 


BOOL • Control signal for enabling the basic function. 

• Connect this output with the input bEnable of the SB LS_Positioner. 


bStartProfile 


BOOL • Control signal for starting the positioning. 

• Connect this output with the input bStart of the SB LS_Positioner. 


bAbortProfile 


BOOL • Control signal for aborting the positioning. 

• Connect this output with the input bAbort of the SB LS_Positioner. 


bRestartProfile 


BOOL • Control signal for restarting the positioning. 

• Connect this output with the input bRestart of the SB LS_Positioner. 



Interface to profile data record management 

DINT • Transmission of the profile number for selecting the next profile . 

• Connect this output with the input of the same name of the 

FB L_PosPositionerTable. 


bEnableHoming 


BOOL • Control signal for enabling the basic function. 

• Connect this output with the input bEnable of the SB LS_Homing. 


bActivateHoming 


BOOL • Control signal for starting homing. 

• Connect this output with the input of the same name of the SB LS_Homing. 


186 1.4 EN - 08/2006 L





bEnableFollower 

Enable signal for setpoint follower 

BOOL • This output is intended for the enable of a setpoint follower during a stand-by 

program step. 

• Connect this output, if required, with the input bEnable of the corresponding 

setpoint follower (SB LS_SpeedFollower, SB LS_TorqueFollower or 

SB LS_PositionFollower). 


FALSE No enable since the basic function "Positioning" is active. 

TRUE Enable is possible since stand-by program step is active. 

dwDigitalOutputs 

Sequencer outputs 1 ... 32 (bit coded) 

DWORD • The sequencer outputs can be set to "0" or "1" by means of the action type 

"Switching" during the runtime of the positioning program. 

• For the transmission of individual control signals a DWORD-to-BOOL converter 

can be connected to this input. 


Bit 0 Sequencer output 1 


... ... 


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General parameters 

� Note! 

The parameters of the different actions for the sequence tables are described in 

the corresponding action subchapters. 


C04500/1...100 Sequence table 

0 Program end 

• In the subcodes the calls for the 

actions required for the 

xxyyy Action call 

positioning program are stored. 

• xx ≡ action type 

• Thus, the basic sequence (except 

• yyy ≡ action number 

for the branches) is described. 

C04501 1 100 Current program step 

• Read only 

C04502 Status of sequence control 

0 READY: Positioning program is ready 

to start/program end has been 

reached. 

• Read only 

1 RUN: Positioning program is 

running. 

2 PAUSE: Current step is interrupted, 

pause is active. 

3 BREAK: Positioning program is 

interrupted. 

4 RESET: Positioning program has 

been reset. 

C04503 Sequence control 

Bit 0 Start 

• Bit-coded code for controlling the 

sequencer by a PC or master 

Bit 1 Pause 

control via parameter channel. 

Bit 2 BREAK 

• By setting a bit to "1" the 

corresponding function is 

Bit 3 Cancel 

activated. 

Bit 4 Reset 

C04504 Program step at abort 

0 Sequence step 

• This step is processed when the 

input bCancel is set to TRUE. 

1 ... 

100 

Step 1 ... 100 

101 Program end 

C04505 Text Current comment 

• Read only 

4.78.1 Priorities of the control signals 

The boolean control signals are evaluated in the following sequence: 

1. bReset 2. bBreak 3. bPause 4. bStart 5. bCancel 

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4.78.2 States of the sequencer 




The internal state machine of the sequencer distinguishes the following five states: 

Status Display 

C04502 

Information 

Ready 0 Positioning program ready to start/Program end reached. 

• If the "Break" function is not activated, the positioning program can be started by 

e.g. a FALSE/TRUE edge at bStart. 

RUN 1 Positioning program is running. 

• The sequence table is processed. 

PAUSE 2 Positioning program is started, pause has been activated. 

• An active positioning is interrupted. 

– The drive is stopped with the current profile deceleration. 

– An acceleration override is not considered. 

• The sequence of an active timing element is stopped. 

• After the pause is cancelled, the positioning program and a positioning activated 

before or a stopped timing element are continued at the same position. 

BREAK 3 Positioning program is interrupted. 

• If positioning is active, the drive is braked to standstill with the deceleration time 

for stop. 

• The system block LS_Positioner is deactivated. 

• The digital output signals keep their state. 

• After the interruption is cancelled, a new start signal is required to continue the 

positioning program with the sequence step. 

Reset 4 Positioning program is reset. 

• If positioning is active, the drive is braked to standstill with the deceleration time 

for stop without considering an acceleration override. 

• The program flow is aborted ("program end"). 

• The digital output signals, counters and timing elements are reset. 

• In case a stand-by operation is active, it is aborted. 

RESET 

C04502 = 4 

bProgramBusy = FALSE 

Reset = TRUE 

Reset = TRUE�FALSE Reset = TRUE 

[4-1] Internal state machine of the sequencer 

Program done 

Start = FALSE 

Break = FALSE 

Start = FALSE�TRUE Reset = TRUE 

READY 

C04502 = 0 


L 1.4 EN - 08/2006 189 

RUN 

C04502 = 1 

bProgramBusy = TRUE 

BREAK 

C04502 = 3 


Break = FALSE 

Pause = TRUE 

Start = FALSE�TRUE Break = FALSE 

Pause = FALSE 

Start = FALSE�TRUE Break = TRUE 

Pause = TRUE 

Pause = FALSE 

Break = TRUE 

PAUSE 

C04502 = 2 

bProgramBusy = TRUE 

Reset = TRUE




4.78.3 Action types available for creating the positioning program 

The program flow of the multi-purpose positioning is selected according to a sequence 

table which can contain up to 100 references to "actions". 

� An action comprises a clear functionality which is described with a few parameters. 

� Different action types are available which serve to implement, for instance, program 

branching, switching operations, waiting times and counters. 

� Each action type provides a certain number of actions which can be parameterised 

individually. 

� One action can be called from several positions in the sequence table. 

� After an action has been processed, the action in the next step of the sequence table is 

automatically processed unless it is jumped to another step in the sequence table due 

to a branch. 

� One action can be maximally processed per computing cycle. 

� The sequence table and the actions are displayed by parameters (codes with subcodes). 

� Action calls are entered into the sequence table using a decimal number which 

contains the action type � and the action number �. 

� 

� 

Overview 

1 

2 

n 

Action Action type 

� 

0 

1 

Action number 

� 

3 

0 00 1 2 

Standby End 

Set 4 

Number of available 

actions 

Parameter range 

(first instance) 

Program end 0 000 1 - 

Positioning 1 001 ... 050 50 C04510 ... C04516 

Switching 2 001 ... 025 25 C04520 ... C04523 

Branching 3 001 ... 025 25 C04530 ... C04532 

Variable branching 4 001 ... 005 5 C04540 ... C04559 

Homing 5 000 1 - 

Wait 7 001 ... 025 25 C04570 ... C04573 

Set counter 8 001 ... 010 10 C04580 ... C04582 

Count 9 001 ... 025 25 C04590 ... C04593 

Stand-by 10 001 ... 005 5 C04600 ... C04602 

Detailed information of the action types can be found in the following subchapters. 

190 1.4 EN - 08/2006 L

4.78.3.1 Action type "Program end" 

End 




To define the program end in the sequence table, the action of type "Program end" is 

available. 

Action call (entry in the sequence table) 

0 

(Leading zeros can be left out). 

� If the input bStart remains set on TRUE after the FALSE/TRUE edge for starting the 

positioning program, the positioning program automatically starts from the beginning 

after the program end has been reached. 

� If the input bStart is reset to FALSE while the positioning program is running, the 

processing is only continued until the program end has been reached. 

� In the Lenze setting all entries of the sequence table are set to "0" and thus to "program 

end". 

L 1.4 EN - 08/2006 191




4.78.3.2 Action type "Positioning" 

To execute a profile, 50 actions of type "Positioning" are available. 


1 x x x 

Waiting function 

with action number xxx = 001 ... 050 

The execution of the set profile with activated waiting function is only started, if the bit 1 

... 32 of the input signal dwDigitalInputs selected for the waiting function adopts the 

selected signal state ("0" or "1"). 

"Watchdog" monitoring function 

You can select an individual "watchdog time" for every "positioning" action. 

� If positioning takes longer than the selected watchdog time, there will be a branch to 

the next watchdog step. 

� If the watchdog time is set to 0 s, the monitoring function is deactivated (Lenze 

setting). 

192 1.4 EN - 08/2006 L

Parameters 

The available actions 1 ... 50 are indicated via the subcodes 1 ... 50. 





C04510/1...50 Text Comment on positioning step 

• Option for description of the 

function for keypad/HMI. 

C04511/1...50 Input for waiting function 

0 Waiting function is deactivated. 

• With the default setting "0" the 

waiting function is skipped and 

1 Sequencer input 1 

the profile execution is started 

(Bit 0 of dwDigitalInputs) 

immediately. 



... ... 



C04512/1...50 Signal state for waiting function 

0 Profile start when bit state is "0" 

• Only when the input for the 

waiting function has adopted this 

1 Profile start when bit state is "1" state, the profile is executed. 

C04513/1...50 Profile number 

0 No profile execution. 

• A sequence profile can be set in 

the corresponding profile 

1 ... 

100 

Execute profile no. 1 ... 100. 

parameter. 

C04514/1...50 Sequence step 


• Step inside the sequence table 

which will be processed after the 

1 ... 

100 

Step 1 ... 100 

profile has been executed. 

C04515/1...50 Watchdog time 

0 Monitoring function is deactivated. 

• Monitoring time within which 

positioning must be completed. 

> 0 Monitoring time in [s] 

Otherwise, there will be a branch 

to the next watchdog step 

defined under C04516. 

C04516/1...50 Watchdog sequence step 


1 ... Step 1 ... 100 

100 

• Executed when the watchdog 

time is exceeded. 

L 1.4 EN - 08/2006 193




4.78.3.3 Action type "Switching" 

In order to switch digital output signals 25 actions of type "Switching" are available. 

� Each action can set two selectable bits of the output signal dwDigitalOutputs to "0" or 

"1" independently of each other. 


2 x x x 

Parameters 




C04520/1...25 Output A switching 

0 Switching is deactivated. 

1 Sequencer output 1 

(Bit 0 of dwDigitalOutputs) 



... ... 



C04521/1...25 Signal state for A switching 

0 Set bit to "0". 


C04522/1...25 Output for B switching 

0 Switching is deactivated. 





... ... 



C04523/1...25 Signal state for B switching 



194 1.4 EN - 08/2006 L

4.78.3.4 Action type "Branching" 

0 

1 




25 actions of type "Branching" are available for conditional and unconditional branches 

(jumps). 

� A branch to the indicated step is executed when the comparison is deactivated or the 

selected bit 1 ... 32 of the input signal dwDigitalInputs has the selected signal state at 

the time of processing ("0" or "1"). If not, the sequence step is processed in the sequence 

table. 


3 x x x 

Parameters 




C04530/1...25 Input for comparison 

0 Comparison is deactivated. 

(The sequence step set in C04532/ 

1...25 is processed). 





... ... 



C04531/1...25 Comparison value 

0 Comparison with "0" 

• State which is compared with the 

bit to be evaluated of the input 

1 Comparison with "1" 

signal dwDigitalInputs. 

C04532/1...25 Sequence step in case of equality 


• If the bit to be evaluated of the 

input signal dwDigitalInputs 

1 ... Step 1 ... 100 

equals the comparison value, a 

100 

branch to the step set here is 

executed. 

• In case of inequality or "0" setting, 

the next step in the sequence 

table is processed. 

L 1.4 EN - 08/2006 195




4.78.3.5 Action type "Variable branching" 

1 

2 

n 

For variable branches (jumps) 5 actions of type "Variable branching" are available. 

� The branch to one of 20 possible steps is executed depending on the input signal 

dwBranch1...5 at the time of processing. 

� The input signals dwBranch1...5 are firmly assigned to the five available actions 

– Input signal dwBranch1 determines the branch for action 1, 

– Input signal dwBranch2 determines the branch for action 2, etc. 

� Example: When the input signal dwBranch2 has the value "15" at the time of 

processing the action no. 2, it is branched to the step which is entered in the parameter 

"Sequence step at branch 15" for action no. 2 (C04554/2). 


4 x x x 


196 1.4 EN - 08/2006 L

Parameters 






C04540/1...5 Sequence step at branch value 1 

0 Branching is deactivated. 

(The next step in the sequence table 

is processed.) 

• Step which is executed next when 

input dwBranch1...5 = "1". 

1 ... 

100 

Step 1 ... 100 

C04541/1...5 See possible settings for C04540. Sequence step at branch value 2 



















L 1.4 EN - 08/2006 197




4.78.3.6 Action type "Homing" 

In order to execute a homing function, the action of type "Homing" is available. 


5 0 0 0 

� Note! 

Required connections 

This functionality requires the following connections between the FB and the basic 

function "Homing": 

� Output bEnableHoming � input HM_bEnable of the SB LS_Homing. 

� Output bActivateHoming � input HM_bActivateHoming of the SB LS_Homing. 

� Output HM_bDone of the SB LS_Homing � input bHomingDone. 

Sequence 

The "Homing" action has no own parameters. 

The settings for homing are carried out via the parameters of the basic function 

"Homing". 

1. The call of the action causes the enable of the SB LS_Positioner to be deactivated and 

the SB LS_Homing to be enabled instead. 

2. The output bActivateHoming for activating homing is set to TRUE. 

3. After the feedback via input bHomingDone that homing has been executed, the enable 

of the SB LS_Homing is deactivated again. 

4. The SB LS_Positioner is enabled again and the program flow is continued. 

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4.78.3.7 Action type "Waiting" 




25 actions of type "Wait" are available for the insertion into the program flow. 

� The sequence step is only processed after the waiting time has expired or when the 

selected bit 1 ... 32 of the input signal dwDigitalInputs has the selected signal state ("1" 

or "2") at the time of processing. 

Waiting time Input Function 

C04571 C04572 

0 

(deactivated) 


Parameters 

0 

(deactivated) 

Sequence step is processed immediately (default setting). 

> 0 [s] 0 

(deactivated) 

After the waiting time has expired, the sequence step will be processed. 

> 0 [s] 1 ... 32 The sequence step will be processed when the input for the waiting time has the set 

state, but no later than after the set waiting time has elapsed. 

0 

(deactivated) 

7 x x x 

1 ... 32 If the input for the waiting function has the set state, the sequence step will be 

processed. 




C04570/1...25 Text Comment on waiting step 



C04571/1...25 0 Waiting time is deactivated. Waiting time 

> 0 Waiting time in [s] 

C04572/1...25 Input for waiting function 

0 Input is deactivated. 





... ... 



C04573/1...50 Signal state for waiting function 

0 Sequence step when bit state is "0" 

• Only when the input for the 

waiting function has adopted this 

1 Sequence step when bit state is "1" state, the sequence step will be 

processed. 

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4.78.3.8 Action type "Counter setting" 

0 00 

Set 

10 actions of type "Set counter" are available for setting one of the 10 available counters to 

a certain starting value. 

� The 10 actions of type "Set counter" are not firmly assigned to the 10 counters. 

� You can use, for instance, an action of type "Set counter" to set a counter to a value and 

later you can set the same counter with another action of type "Set counter" to another 

value. 


8 x x x 

Parameters 




C04580/1...10 Counter selection 

0 "Counter setting" is deactivated. 

1 ... 10 Counter 1 ...10 

C04581/1...10 -2147483648 2147483648 New counter content 

C04582/1...10 -2147483648 2147483648 Current counter content 

• Read only 

200 1.4 EN - 08/2006 L

4.78.3.9 Action type "Counting" 

3 

1 2 

4 




25 actions of type "Count" are available for counting processes. 

� With each action processing the counter content of the respective counter is increased 

or reduced by the set step value (count upwards or downwards). 

� When the comparison condition for comparing the counter content with an adjustable 

comparison value is fulfilled, a branch to any step is possible. 

� 10 actions of type "Set counter" are available for setting a counter to a starting value. 


9 x x x 

Parameters 




C04590/1...25 Counter selection 

0 Counting is deactivated. 

(Sequence step is processed.) 

1 ... 10 Counter 1 ...10 

C04591/1...25 -2147483648 2147483648 Step value 

• Value by which the counter is 

increased or reduced. 

C04592/1...25 -2147483648 2147483648 Comparison value 

• Value with which the counter is 

compared. 

C04593/1...25 Sequence step 


• When the set comparison 

condition is met, a branch to the 

1 ... Step 1 ... 100 

step set here is executed. 

100 

• If the condition is not fulfilled or 

with "0" setting, the next step in 

the sequence table is processed. 

C04594/1...25 Comparison condition 

1 Counter content = comparison value 

2 Counter content > comparison value 

3 Counter content ≥ comparison value 

4 Counter content < comparison value 

5 Counter content ≤ comparison value 

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4.78.3.10 Action type "Stand-by" 

Standby 

5 actions of type "Stand-by" are available for the temporary activation of a setpoint 

follower. 

� For this purpose the output bEnableFollower must be connected with the enable input 

bEnable of the corresponding setpoint follower (SB LS_SpeedFollower, 

SB LS_TorqueFollower or SB LS_PositionFollower). 

� The enable signal at the output bEnableFollower is applied until the condition for 

exiting the stand-by is met. 


1 0 x x x 

Parameters 




C04600/1...5 Text Comment on "Stand-by" step 



C04601/1...5 Input for "Stand-by" end 





... ... 



C04602/1...5 Signal state for "Stand-by" end 

0 Sequence step when bit state is "0" 

• Only when the input for the end 

of "Stand-by" has reached this 

1 Sequence step when bit state is "1" state, this stand-by step is exited 

and the sequence step is 

processed. 

202 1.4 EN - 08/2006 L

4.78.4 Example: Sequence table 

Parameters Entry ≡ Action type/action no. Meaning 

C04500/1 5000 - Execute homing 




C04500/2 3001 1 Process action 1 of type "Branching" (3) 

C04500/3 9005 5 Process action 5 of type "Counting" (9) 

C04500/4 1001 1 Process action 1 of type "Positioning" (1) 

C04500/5 7003 3 Process action 3 of type "Waiting" (7) 



C04500/8 9005 5 Process action 5 of type "Counting" (9) 


C04500/... yyxxx yy xxx Process action xxx of type yy 


C04500/25 0 - Program end 

End 

C04500/26 0 - Program end 

End 

C04500/... ... ... ... ... 

C04500/100 0 

End 

- Program end 

0 

1 

3 

1 2 

4 

0 

1 

3 

1 2 

4 

0 

1 

L 1.4 EN - 08/2006 203



L_SdDelayComp - Dead time compensation 

4.79 L_SdDelayComp - Dead time compensation 

Function library: LenzeServoDrive 



This FB extrapolates a signal by a set time. In this way, the FB can compensate for the dead 

times of incoming signals resulting from the bus transfer. 

� The FB considers a modulo measuring system and the cycle of the selected machine 

parameters. 

Inputs 


dnPosIn_p 

Position in [inc] 

DINT 







Outputs 


dnPosOut_p 

Compensated position in [inc] 

DINT 

Parameters 

dnPosIn_p 

AxisData 

L_SdDelayComp 

dnPosOut_p 


C04320 0.000 ms 8.000 Compensation time 

• Initialisation: 0.000 ms 

204 1.4 EN - 08/2006 L 

Out 

�t 

In

4.80 L_SdDifferentiate - Differentiation 



This FB creates a speed signal from a position value. 

Inputs 

Outputs 



L_SdDifferentiate - Differentiation 


� Note! 

The FB is not suitable for clocked (modulo) positions! 

dnPosIn_p 

AxisData 

L_SdDifferentiate 

dnSpeedOut_s 


dnPosIn_p 










dnSpeedOut_s 


DINT • Scaling: 15000 rpm ≡ 226 ≡ 67108864 

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L_SdFactor - Stretching factor 

4.81 L_SdFactor - Stretching factor 




This FB provides the "stretching factor" function for the application "Electronic gearbox". 

� The calculation is made with remainder handling. 

Inputs 


dnIn 

Input signal 

DINT 

dnNumerator 

Stretching factor (numerator) 

DINT • 0 ... 2 31 -1 

• If an invalid value is selected, the gain will be set to "0". 

dnDenominator 

Stretching factor (denominator) 

DINT • 0 ... 231-1 • If an invalid value is selected, the gain will be set to "0". 

bNegOutput 

Reverse output signal 

BOOL 

FALSE Inversion is deactivated. 

TRUE The output signal is reversed compared to the input signal if a 

positive value is applied to the input dnNumerator. 

Outputs 

dnIn 

dnNumerator 

dnDenominator 

bNegOutput 

L_SdFactor 


dnOut 

Output signal 

DINT 

bLimit 

Status "Output signal is limited" 

BOOL 

TRUE The output signal is limited, the drive does not follow the setpoint. 

206 1.4 EN - 08/2006 L 

a 

b 

dnOut 

bLimit

4.82 L_SdGetPosition - Position conversion 





L_SdGetPosition - Position conversion 


This FB uses the transmitted machine parameters and converts a position in [inc] into a 

position in the real unit of the machine. The converted position is displayed in C04273. 

Inputs 


dnPosIn_p 









Outputs 


dnState 

Status 

DINT 

0 Ok - no fault 

-1 No machine parameters are applied to the input AxisData. 

bError 


BOOL 

TRUE The conversion was incorrect. 

Parameters 

dnPosIn_p 

AxisData 

L_SdGetPosition 

dnState 

bError 


C04271 -2147483647 2147483647 Status 



C04273 -214748.3647 unit 214748.3647 Position value 


dnPosIn_p in the real unit of the 

machine. 

L 1.4 EN - 08/2006 207



L_SdGetSpeed - Speed conversion 

4.83 L_SdGetSpeed - Speed conversion 




This FB uses the transmitted machine parameters and converts a speed into a velocity. The 

converted value is displayed in C04283. 

Inputs 


dnSpeedIn_s 

Speed in [rpm] 

DINT • Scaling: 15000 rpm ≡ 2 26 ≡ 67108864 







Outputs 


dnState 

Status 

DINT 


-1 No machine parameters are applied to the input AxisData. 

bError 


BOOL 


Parameters 

dnSpeedIn_s AxisData 

L_SdGetSpeed 

dnState 

bError 


C04281 -2147483647 2147483647 Status 



C04283 -214748.3647 unit/t 214748.3647 Speed value 

• Read only 


dnSpeedIn_s. 

208 1.4 EN - 08/2006 L

4.84 L_SdIntegrate - integration 



This FB integrates a speed to a position. 

� The calculation is made with remainder handling. 

Inputs 

Outputs 



L_SdIntegrate - integration 


dnSpeedIn_s 

bLoadStartPos 

dnStartPos_p 

AxisData 

L_SdIntegrate 

dnPosOut_p 

bError 


dnSpeedIn_s 

Speed in [rpm] 

DINT • 15000 rpm ≡ 226 ≡ 67108864 

bLoadStartPos 

Load integrator with starting position and reset overflow signal. 

BOOL 

TRUE Load the integrator with the value applied to input dnStartPos_p and 

reset bError to FALSE. 

dnStartPos_p 

Starting position in [inc] with which the integrator is loaded by setting 

DINT bLoadStartPos to TRUE. 










dnPosOut_p 


DINT • Overflow is possible (display via bError) 

bError 

Status signal "Overflow occurs" 

BOOL • Status signal can be reset via bLoadStartPos. 

TRUE Overflow has occurred. 

L 1.4 EN - 08/2006 209



L_SdLimitSpeed - Speed limitation 

4.85 L_SdLimitSpeed - Speed limitation 




This FB is used to lead a speed setpoint to defined limit ranges. 

� The overflow buffer has a sample rate of 8 revolutions/ms. 

Inputs 

dnSpeedIn_s 

dnUpperLimit_s 

dnLowerLimit_s 

bEnable 

AxisData 

L_SdLimitSpeed 

0 

1 

dnState 

dnSpeedOut_s 


dnSpeedIn_s 

Speed input signal in [rpm] 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 

dnUpperLimit_s 

Upper speed limit in [rpm] 

DINT • 15000 rpm ≡ 226 ≡ 67108864 

dnLowerLimit_s 

Lower speed limit in [rpm] 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 

bEnable 

Activate speed limitation 

BOOL 

FALSE Speed limitation is deactivated. 

• The input signal dnSpeedIn_s is output unchanged to the output 

dnSpeedOut_s. 

• The overflow buffer is cleared. 

TRUE Speed limitation is activated. 

• The input signal dnSpeedIn_s is output to the output 

dnSpeedOut_s considering the defined speed ranges. 







210 1.4 EN - 08/2006 L 

CTRL 

bLimit

Outputs 

Parameters 



L_SdLimitSpeed - Speed limitation 


dnState 


DINT 

Bit 0 Ok - no fault 

Bit 15 Fault (group signal) 

Bit 16 Speed output signal is limited to the upper speed limit. 

Bit 17 Speed output signal is limited to the lower speed limit. 

Bit 18 No speed limits defined, the speed limitation is not active. 

Bit 19 Speed limits are invalid. 

Bit 20 Overflow of the overflow buffer 

dnSpeedOut_s 

Speed output signal in [rpm] 

DINT 

bLimit 

Status signal "Speed limitation is active" 

BOOL 

TRUE The speed output signal is limited. 


C04300 -214748.3647 unit/t 214748.3647 Speed output 

• Read only 


dnSpeedOut_s. 

C04301 -214748.3647 unit/t 214748.3647 Speed input 

• Read only 


dnSpeedIn_s. 

C04303 Status 

0 Speed limitation is deactivated. 


bEnable. 

1 Speed limitation is activated. 

C04304 Status message 

0 Speed output signal is not limited. 


bLimit. 

1 Speed output signal is limited. 

C04305 -2147483647 2147483647 Status 



L 1.4 EN - 08/2006 211



L_SdPosToUnit - Position conversion 

4.86 L_SdPosToUnit - Position conversion 




This FB uses the transmitted machine parameters and converts a position defined in the 

internal unit [inc] into a position in the real unit of the machine. 

Inputs 


dnPosIn_p 


DINT 







Outputs 


dnPosOut_e4 

Position in [unit] 

DINT • Output in "e4" format (fixed point with four decimal positions) 

bLimit 


BOOL 

TRUE The output signal is limited to the value range that can be displayed. 

Parameters 

dnPosIn_p 

AxisData 

L_SdPosToUnit 

[inc] �[unit] 

dnPosOut_e4 


Index 


C04312 String from AxisData Position unit 

• Read only 

212 1.4 EN - 08/2006 L 

bLimit



L_SdRampGenerator - Ramp function generator with S-ramp 

4.87 L_SdRampGenerator - Ramp function generator with S-ramp 




This FB is a ramp function generator with S-shaped ramps for limiting the increase of 

analog signals over time. The S-shape of the ramps results from a trapezoidal acceleration. 

� The ramp function generator has a setting function for directly loading the value into 

the internal ramp generator. 

� The acceleration/deceleration times are set via C04340. 

� An S-ramp time for a jerk-free acceleration can be set in C04341. 

� The slope dy/dt of the output signal dnOut_n is output to the output dnDeltaOut_n. 

Inputs 


dnIn_n 

Scaled input signal 

DINT 

bLoadStartValue 

Initialising ramp function generator 

BOOL 

FALSE The ramp function generator runs with the Ti times set from the 

value loaded via dnStartValue_n to the value at dnIn_n. 

TRUE At the output dnOut_n dnStartValue_n is output, dnDeltaOut_n 

remains on 0 %. 

dnStartValue_n 

Scaled starting value for the ramp function generator 

DINT • Acceptance when bLoadStartValue = TRUE 

Outputs 

dnIn_n 


dnStartValue_n 

L_SdRampGenerator 

dnOut_n 

dnDeltaOut_n 


dnOut_n 

Scaled output signal 

DINT • Internally limited to ±200 % 

dnDeltaOut_n 

Scaled acceleration of the ramp function generator 


L 1.4 EN - 08/2006 213




Parameters 


Index 


C04340 0.001 s 1000.000 Acceleration / deceleration time 


C04349 0.001 s 10.000 S-ramp time 


4.87.1 Loading the ramp function generator 

By setting bLoadStartValue to TRUE the ramp function generator is loaded with the signal 

at dnStartValue_n. 

� This value is accepted immediately and output to nOut_n. No s-shape ramp-up or 

ramp-down takes place. 

� As long as bLoadStartValue = TRUE , the ramp function generator is inhibited. 

214 1.4 EN - 08/2006 L

4.87.2 Acceleration and jerk 




The maximum acceleration and the jerk can be adjusted separately. 

� acceleration 

� S-ramp time 

[4-1] Line diagram 

Acceleration / deceleration time 

The acceleration and deceleration time are set in C04340. 

� The acceleration time describes the time necessary to reaching 100 %. 

� The setting is done according to the formula: 

S-ramp time 

dnIn_n 

dnOut_n 

dnDeltaOut_n 

C04340 

� 

C04340 

� 

C04349 

-------------------------- 

1 s ⋅ 100 % 

C04340 [s] 

An S-ramp time for a jerk-free acceleration of the drive can be set in C04349. 

� The jerk is entered in [s] until the ramp function generator operates with the maximum 

acceleration. 

L 1.4 EN - 08/2006 215 

t 

t 

t 

t



L_SdRuntimeComp - Runtime compensation 

4.88 L_SdRuntimeComp - Runtime compensation 




This FB is used for the runtime compensation of position signals that are, for instance, 

transmitted by means of a bus system. 

� The output signal leads the input signal by the last position difference. 

� The resulting rate time equals the task runtime of the program in which the FB is used. 

� Note! 

Inputs 

Outputs 

The FB is not suitable for clocked (modulo) positions! 

The FB L_SdDelayComp can be used for dead time compensation. (� 204) 

dnPosIn_p 

bEnable 

L_SdRuntimeComp 

dnPosOut_p 


dnPosIn_p 


DINT 

bEnable 

Activate compensation 

BOOL 

TRUE Compensation is activated. 


dnPosOut_p 

Compensated position in [inc] 

DINT • Leads the input signal dnPosIn_p by the last position difference. 

216 1.4 EN - 08/2006 L

4.89 L_SdSetAxisData - Machine parameter 





L_SdSetAxisData - Machine parameter 


This FB serves to indicate the machine parameters of a master drive. The FB prepares the 

machine parameters which you define with the physical units of the machine via 

parameters for the internal measuring system of the profile generator. 

� The FB outputs a pointer to the data structure with the prepared machine parameters 

at the output AxisData. 

� To transmit the machine parameters to another FB, which requires these data for 

internal calculations, the output AxisData must simply be connected with the input of 

the same name of the corresponding FB. 

Outputs 



• Pointer to a data structure the elements of which contain the machine 

parameters in the internal measuring system. 

• Via this "interface" the machine parameters can be provided for other FBs which 

require these data for internal calculations. 

Parameters 

L_SdSetAxisData 

AxisData 


C04240 1 2147483647 Gearbox ratio - numerator 


C04241 1 2147483647 Gearbox ratio - denominator 


C04242 0.0001 unit/inc 214748.3647 Feed constant 

• Initialisation: 360 unit/inc 

C04243 Path unit 

0 User-defined Selection in C04244 

1 inc 

2 μM 

3 mm 

4 M 

5 inch 

6 yard 

7 % 

C04244 String of digits with max. 8 characters User-defined path unit 

L 1.4 EN - 08/2006 217





C04245 Time unit 

• The time base unit is default set to 

"s" and cannot be changed! 

0 User-defined 

1 ms 

2 s 

3 min 

4 H 

C04248 0.0000 unit 214748.3647 Cycle 

• Initialisation: 360 unit 

C04249 10 Bit 28 Resolution of encoder revolution 

• Initialisation: 16 bits 

C04251 -214748.3647 unit/t 214748.3647 Maximum speed 

• Initialisation: 

214748.3647 unit/t 

C04258 -2147483.647 2147483.647 Resulting gearbox factor 

• Read only 

C04259 -214748.3647 inc 214748.3647 Resolution - application unit 

• Read only 

4.89.1 Typical application 

� 

[4-1] Typical application 

C04240 

C04241 

C04242 

L_SdSetAxisData 

AxisData 

1. The machine data are specified with the physical units of the machine via the 

corresponding parameters. � 

2. The FB converts the machine parameters into the internal measuring system of the 

profile generator and provides the data at the output AxisData as a data structure for 

transfer to other FBs. � 

– A modulo measuring system will always be output. 

218 1.4 EN - 08/2006 L 

� 

AxisData 

L_SdSetPosition 

dnState 

dnSetPos_p 

bError

4.89.2 Selection and input of machine parameters 

The following table lists absolutely necessary machine parameters: 




Machine parameters Setting Unit Information 

Gearbox ratio - numerator C04240 - Input according to the gearbox nameplate. 

Gearbox ratio - denominator C04241 - 

Feed constant (Vk ) C04242 unit Enter the number in [unit] (e.g. [mm]), which is to be 

fed when the gearbox output revolves once. 

Maximum speed (vmax ) C04251 unit/t This limit applies to the entire machine. 

Caution: The limit must be set in a way that it can be 

reached with max. motor speed: 

Feed constant gearbox (denominator) 

V 

max 

≤ n ----------------------------------max 

⋅ ⋅ ----------------------------------------------------------- 

60 gearbox (numerator) 

dwVmax C00011 C04242 

------------------- 

60 

C04240 

≤ 

⋅ ⋅ ------------------- 

C04241 

L 1.4 EN - 08/2006 219




4.89.3 Example 

The machine parameters of a master value encoder are to be displayed in the application 

for the purpose of master value processing. 

� Machine parameters of the master value encoder 

� Machine parameters of the drive/motor 

[4-2] Schematic diagram of real master (master value encoder) 

Settings 

� 

i1 = 3.333 

l1= 600 mm 

d1 = 150 mm 

d2 

vmax = 1000 mm/s 

Machine parameters Setting Input Information 

Gearbox ratio - numerator 

Gearbox ratio - denominator 

C04240 

C04241 

10 

3 

Enter gearbox ratio i1 = 3,333 for the master value 

encoder as a quotient (numerator and denominator). 

Feed constant C04242 471.2389 Vk = d1 * π = 150 mm * π = 471.2389 mm 

Path unit C04243 3 Unit = [mm] 

Cycle C04248 600 l1 = 600 mm 

Maximum speed C04251 1000 vmax = 1000 mm/s 

� Tip! 

The machine parameters for the drive/motor are set via the drive interface 

(SB LS_DriveInterface). 

220 1.4 EN - 08/2006 L 

� 

i2

4.90 L_SdSetPosition - position conversion 





L_SdSetPosition - position conversion 


This FB uses the transmitted machine parameters and converts a position which has been 

selected via C04276 in the real machine units into a position in [inc] and outputs it at 

dnSetPos_p for further processing within the FB interconnection. 

Inputs 










Outputs 


dnState 

Status 

DINT 


dnSetPos_p 


DINT • Scaling: 1 motor revolution ≡ 216 or via AxisData. 

bError 


BOOL 


Parameters 

AxisData 

L_SdSetPosition 


C04276 -214000 unit 214000 Position value 

• Initialisation: 0 unit 

C04278 -2147483647 2147483647 Status 

• Read only 

L 1.4 EN - 08/2006 221 

dnState 

dnSetPos_p 

bError



L_SdSetSpeed - speed conversion 

4.91 L_SdSetSpeed - speed conversion 




This FB uses the transmitted machine parameters and converts a velocity which has been 

selected via C04286 in the real machine units into a speed and outputs it at dnSetSpeed_s 

for further processing in the FB interconnection. 

Inputs 








Outputs 


dnState 

Status 

DINT 


dnSetSpeed_s 

bError 

Parameters 

DINT 

BOOL 

AxisData 

L_SdSetSpeed 


• 15000 rpm ≡ 2 26 ≡ 67108864 




C04286 -214748.3647 unit/t 214748.3647 Speed value 

• Initialisation: 0 unit/t 

C04288 -2147483647 2147483647 Status 



222 1.4 EN - 08/2006 L 

dnState 

dnSetSpeed_s 

bError

4.92 L_SdSpeedFilter - Speed signal delay 





L_SdSpeedFilter - Speed signal delay 


This FB is used to filter or delay a speed signal according to the PT1 principle. The resulting 

position loss is compensated by an internal overflow buffer. 

Inputs 


dnSpeedIn_s 

Speed selection in [rpm] 

DINT • 15000 rpm ≡ 226 ≡ 67108864 

bEnable 

Activate filter function 

BOOL 

FALSE Filter is deactivated. 

• Use these settings during the acceleration and deceleration 

phases to prevent a drifting of the position. 

TRUE Filter is activated. 







Outputs 


dnSpeedOut_s 

Filtered speed in [rpm] 

DINT 

bLimitActive 

Status signal "Overflow/underflow" 

BOOL 

TRUE An overflow/underflow has occurred. 

Parameters 

dnSpeedIn_s 

L_SdSpeedFilter 

0 

dnSpeedOut_s 

1 

bEnable bLimitActive 

AxisData 


C04290 0.0000 unit/s 214000.0000 Compensating speed 

• For compensating the phase 

differences. 

• Initialisation: 0.0010 unit/s 

C04291 0.000 s 60.000 Filter time constant 


L 1.4 EN - 08/2006 223



L_SdSpeedFilter - Speed signal delay 


C04294 -214748.3647 unit/t 214748.3647 Speed output 

• Read only 


dnSpeedOut_s. 

C04295 -214748.3647 unit/t 214748.3647 Speed input 

• Read only 


dnSpeedIn_s. 

C04299 Status - filter 

0 Filter is not active 

• Read only 

1 Filter is active 

224 1.4 EN - 08/2006 L

4.93 L_SdSpeedSet - Setpoint ramp generator 




L_SdSpeedSet - Setpoint ramp generator 



This FB contains a ramp generator with comprehensive parameterisation and control 

options for conditioning a setpoint signal. 

bJog1 

bJog2 

bJog4 

bJog8 

bTi1 

bTi2 

bTi4 

bTi8 

Inputs 

dnSpeedSetpointIn_n 

bInvertSetpoint 

bHoldOutput 

bStop 

Fixed setpoints 

C04200/1 

C04201 

2 

2 

0 

1 

2 

2 

2 

2 

2 

3 

0 

1 

2 

2 

2 

3 

0 

15 

0 

15 

bLoadExtSpeedSetpoint 

dnExtSpeedSetpoint_n 

bLoadActualMotorSpeed 

dnActualMotorSpeed_n 

dwRampMode 

AxisData 

C04215 

C04220 

C04200/15 

C04212/1 

C04212/15 

C04221 

0 

1 

15 

Tir Tif Jerk time 

C04202 C04203 C04204 

C04213/1 

C04213/15 

L_SdSpeedSet 


dnSpeedSetpointIn_n Input setpoint in [%] 

DINT • Relating to the reference speed (C00011) 

bInvertSetpoint 

Reversing the speed setpoint 

BOOL 

TRUE Speed setpoint is inverted. 

bHoldOutput 

Holding (freezing) the output value 

BOOL 

TRUE The current value of the ramp generator is held. 

bStop 

Activating "Ramp-down" to standstill 

BOOL • This input has priority over the input bHoldOutput. 

TRUE The current value of the ramp generator is led to "0" via the Ti time 

set. 

bJog1 ... bJog8 

Binary coded selection of the setpoint. 

BOOL • When all inputs are set to FALSE, the setpoint dnSpeedSetpointIn_n is selected, 

otherwise the corresponding fixed setpoint (C04200/1...15). 

L 1.4 EN - 08/2006 225 

0 

1 

C04214/1 

C04214/15 

0 

1 

15 

C04207 

0 

1 

C04208 

200 % 

C04225 

C04226 

C04227 

dnSpeedSetpointOut_n 

C04223 

dnTargetSetpoint_n 

C04222 

bSetpointOutInTarget 

C04224 


Gear reference speed 

Gear speed setpoint 

Machine reference speed 

C04228 Machine speed setpoint 

C04229 Unit for speed





bTI1 ... bTI8 

Binary coded selection of the acceleration, deceleration and S-ramp time. 

BOOL • The times are set in the subcodes of C04212, C04213 and C04214. 

• The conversion is controlled via dwRampMode and bStop. 

bLoadExtSpeedSetpoint Loading of the ramp generator with the motor-based speed setpoint 

BOOL dnExtSpeedSetpoint_n. 

TRUE The input signal dnExtSpeedSetpoint_n is loaded into the ramp 

generator. 

dnExtSpeedSetpoint_n Motor-based speed setpoint in [%] 

DINT • Is loaded into the ramp generator by setting bLoadExtSpeedSetpoint to TRUE. 

bLoadActualMotorSpeed Loading of the ramp generator with the motor-based actual speed 

BOOL dnActualMotorSpeed_n. 

TRUE The input signal dnActualMotorSpeed_n is loaded into the ramp 

generator. 

dnActualMotorSpeed_n Motor-based actual speed value in [%] 

DINT • Is loaded into the ramp generator by setting bLoadActualMotorSpeed to TRUE. 

dwRampMode 

Type of profile generation 

DWORD • Can also be set via C04220. 

0 Profile generation with linear ramps. 

• Relating to the reference speed (C00011). 

1 Profile generation with jerk limitation (S ramps). 

10 Profile generation with linear ramps. 

• Relating to the reference speed (C00011). 

• In case of edge change at the bStop input with regard to the 

current setpoint (constant time). 

• The setpoint applied to the input dnExtSpeedSetpoint_n is 

adopted as starting value. 


• For calculation and display of reference values on the load side (output shaft 

speed, machine speed) the reference speed (C00011), the gearbox factor and the 

feed constant are required. 



Outputs 


dnSpeedSetpointOut_n 

DINT 


BOOL 

dnTargetSetpoint_n 

bSetpointOutInTarget 

DINT 

BOOL 

Output setpoint 

• Relating to the reference speed (C00011) 

Status signal "Ramp-down is active" 

• Ramp-down can be activated via the input bStop. 

TRUE The ramp generator leads the current output value to "0" (standstill). 

TRUE�FALSE The output value equals "0" (standstill). 

Current target setpoint (at the input of the ramp generator) 

• Relating to the reference speed (C00011) 

Status signal "Default value reached" 

TRUE The output of the ramp generator has reached the default value (in 

consideration of the window set). 

226 1.4 EN - 08/2006 L

Parameters 





C04200/1...15 -200.00 % 200.00 Fixed setpoint 1 ... 15 

• Initialisation: 0.00 % 

C04201 0 15 Active setpoint 

• Read only 

C04202 0.000 s 1000.000 Basic acceleration time 


C04203 0.000 s 1000.000 Basic deceleration time 


C04204 0.000 s 10.000 Basic S-ramp time 


C04207 Polarity bStop input 

0 HIGH active 

1 LOW active 

C04208 0.00 % 100.00 Tolerance setpoint reached 


C04212/1...15 0.000 s 1000.000 Acceleration time 1 ... 15 


C04213/1...15 0.000 s 1000.000 Deceleration time 1 ... 15 


C04214/1...15 0.000 s 1000.000 S-ramp time 1 ... 15 


C04215 0 15 Active profile parameters 

• Read only 

C04220 Profile mode 

0 Profile generation with linear ramps 

• Relating to the reference speed 

(C00011). 

• Can also be selected via input 

dwRampMode. 

1 Profile generation with jerk 

limitation (S ramps) 

10 Profile generation with linear ramps 

• Relating to the reference speed 

(C00011). 

• In case of edge change at the 

bStop input with regard to the 

current setpoint (constant time). 

• The setpoint applied to the input 

dnExtSpeedSetpoint_n is adopted 

as starting value. 

C04221 -200.00 % 200.00 Input setpoint 

• Read only 

C04222 -200.00 % 200.00 Target setpoint 

• Read only 

C04223 -200.00 % 200.00 Output setpoint 

• Read only 

C04224 Status "Target setpoint reached" 

0 Target setpoint not yet reached 

• Read only 

1 Target setpoint reached 

C04225 0.000 rpm 50000.000 Gearbox reference speed 

• Read only 

L 1.4 EN - 08/2006 227





C04226 0.000 rpm 50000.000 Gearbox setpoint speed 

• Read only 

C04227 0.0000 unit/t 214000.0000 Machine reference speed 

• Read only 

C04228 -214000.0000 unit/t 214000.0000 Machine setpoint speed 

• Read only 

C04229 String from AxisData Unit for speed 

• Read only 

C04237 -200.00 % 200.00 External setpoint 


dnExtSpeedSetpoint_n. 

C04238 -200.00 % 200.00 Current motor speed 


dnActualMotorSpeed_n. 

C04239/1 Reverse setpoint 

0 Setpoint not inverted 


bInvertSetpoint. 

1 Setpoint inverted 

C04239/2 Hold setpoint output 

0 Setpoint output enabled 


bHoldOutput. 

1 Hold setpoint output 

C04239/3 Stop 

0 Stop not active 

• Display of the input signal bStop. 

1 Stop requested 

C04239/4...7 Jog input 1 ... 8 

0 Jog input not active 

• Display of the input signals bJog1 

... bJog8. 

1 Jog input active 

C04239/8...11 Ti input 1 ... 8 

0 Ti input not active 

• Display of the input signals bTi1 ... 

bTi8. 

1 Ti input active 

C04239/12 Load external setpoint 

0 Loading not active 


bLoadExtSpeedSetpoint. 

1 Load external setpoint 

C04239/13 Load motor speed 

0 Loading not active 


bLoadActualMotorSpeed. 

1 Load motor speed 

228 1.4 EN - 08/2006 L

4.93.1 Setpoint path 




� The signals in the setpoint path are limited to ±200.00 % of the reference speed. 

� The signal at dnSpeedSetpointIn_n is first led via the function "Selection of fixed 

setpoints". 

� A selected fixed setpoint switches the input dnSpeedSetpointIn_n inactive and the 

subsequent signal conditioning uses the selected fixed setpoint. 

� By setting the input bInvertSetpoint to TRUE the input signal of the ramp generator can 

be inverted. 

4.93.2 Fixed setpoints 

In addition to the direct setpoint selection via the input dnSpeedSetpointIn_n fixed 

setpoints can be preset in C04200/1...15. 

� These fixed setpoint can be called binary coded any time via the selection inputs 

bJog1 ... bJog8, so 15 options are available. 

Selected inputs Used 

Setpoint 

bJog8 bJog4 bJog2 bJog1 

FALSE FALSE FALSE FALSE dnSpeedSetpointIn_n 

FALSE FALSE FALSE TRUE C04200/1 

FALSE FALSE TRUE FALSE C04200/2 

FALSE FALSE TRUE TRUE C04200/3 

FALSE TRUE FALSE FALSE C04200/4 

FALSE TRUE FALSE TRUE C04200/5 

FALSE TRUE TRUE FALSE C04200/6 

FALSE TRUE TRUE TRUE C04200/7 

TRUE FALSE FALSE FALSE C04200/8 

TRUE FALSE FALSE TRUE C04200/9 

TRUE FALSE TRUE FALSE C04200/10 

TRUE FALSE TRUE TRUE C04200/11 

TRUE TRUE FALSE FALSE C04200/12 

TRUE TRUE FALSE TRUE C04200/13 

TRUE TRUE TRUE FALSE C04200/14 

TRUE TRUE TRUE TRUE C04200/15 

� The number of selected inputs to be assigned depends on the number of required fixed 

setpoints. 

Number of the fixed setpoints required Number of the selection inputs to be assigned (bJog1 ... bJog8) 

1 at least 1 

1 ... 3 at least 2 

4 ... 7 at least 3 

8 ... 15 4 

L 1.4 EN - 08/2006 229




4.93.3 Ramp generator 

Afterwards, the setpoint is led via a ramp generator with S-ramp characteristic. The ramp 

generator transfers setpoint step-changes at the input to a ramp. 

RFG-OUT 

100 % 

w2 

w1, w2 = change of the setpoint as a function of t ir or t if 

RFG-OUT = output of the ramp generator 

w1 

0% 

[4-1] Acceleration and deceleration times 

Tir 

� t ir and t if are the desired times for changing between w1 and w2. 

t ir 

� S-ramps are possible if an S-ramp time is selected. 

� The tir /tif values are converted into the required Ti times according to the following 

formula: 

100 % 

100 % 

T = t ⋅ ---------------------- 

T = 

t ⋅ ---------------------ir 

ir w2 – w1 

if if w2 – w1 

230 1.4 EN - 08/2006 L 

t ir 

Tir 

t

4.93.4 Setting and selection of the Ti times 




16 different Tir, Tif and S-ramp times can be selected via parameters for the ramp 

generator. 

� The selection is carried out binary coded via the selection inputs bTI1 ... bTI8: 

4.93.5 Display of the machine-based variables 

Selected inputs Selection 

bTI8 bTI4 bTI2 bTI1 Tir Tif S-ramp time 

FALSE FALSE FALSE FALSE C04202 C04203 C04204 

FALSE FALSE FALSE TRUE C04212/1 C04213/1 C04214/1 

FALSE FALSE TRUE FALSE C04212/2 C04213/2 C04214/2 

FALSE FALSE TRUE TRUE C04212/3 C04213/3 C04214/3 

FALSE TRUE FALSE FALSE C04212/4 C04213/4 C04214/4 

FALSE TRUE FALSE TRUE C04212/5 C04213/5 C04214/5 

FALSE TRUE TRUE FALSE C04212/6 C04213/6 C04214/6 

FALSE TRUE TRUE TRUE C04212/7 C04213/7 C04214/7 

TRUE FALSE FALSE FALSE C04212/8 C04213/8 C04214/8 

TRUE FALSE FALSE TRUE C04212/9 C04213/9 C04214/9 

TRUE FALSE TRUE FALSE C04212/10 C04213/10 C04214/10 

TRUE FALSE TRUE TRUE C04212/11 C04213/11 C04214/11 

TRUE TRUE FALSE FALSE C04212/12 C04213/12 C04214/12 

TRUE TRUE FALSE TRUE C04212/13 C04213/13 C04214/13 

TRUE TRUE TRUE FALSE C04212/14 C04213/14 C04214/14 

TRUE TRUE TRUE TRUE C04212/15 C04213/15 C04214/15 

For a better assessment of the created setpoints/parameterised fixed values (% value) the 

machine-based reference values are calculated and displayed: 

Parameters Information 

C04225 Gearbox reference speed 

C04226 Gearbox setpoint speed 

C04227 Machine reference speed 

C04228 Machine setpoint speed 

The current setpoint is also calculated and displayed correspondingly. 

Parameters Information 

C04221 Input setpoint 

C04222 Target setpoint 

C04223 Output setpoint 

L 1.4 EN - 08/2006 231



L_SdSpeedToUnit - Speed conversion 

4.94 L_SdSpeedToUnit - Speed conversion 




This FB uses the transmitted machine parameters and converts a speed value defined in 

the internal unit [rpm] into a speed value in the real unit of the machine. 

Inputs 


dnSpeedIn_s 

Speed as speed in [rpm] 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 







Outputs 


dnSpeedOut_e4 

Speed in [unit/s] 

DINT • Output in "e4" format (fixed point with four decimal positions) 

bLimit 


BOOL 


Parameters 

dnSpeedIn_s 

AxisData 

L_SdSpeedToUnit 

[rpm] �[unit] 

dnSpeedOut_e4 


Index 


C04316 String from AxisData Speed unit 

• Read only 

232 1.4 EN - 08/2006 L 

bLimit

4.95 L_SdSwitchPoint - Position switch points 




L_SdSwitchPoint - Position switch points 



This FB serves to implement up to 8 simple position switch points (cams). When the current 

drive position is inside a range defined via parameters, the output assigned to this 

"switching area" is set to TRUE. 

� The output setting does not depend on whether the switching range is approached by 

the positive or negative side. 

� In the modulo measuring system (rotary table) the switching ranges can also be 

defined beyond the 0° position (e.g. switching on at 350° and off at 10° in CW rotation). 

Inputs 


bEnable 

Enable FB 

BOOL 

TRUE Position switch points are activated. 

dnPosIn_p 

Input for accepting the current position 

DINT • Connect this input with the position signal to be accepted. Depending on the 

application, this can be a setpoint or an actual position. 







Outputs 

bEnable 

dnPosIn_p 

AxisData 

L_SdSwitchPoint 

bSwitchPoint1 

bSwitchPoint2 bSwitchPoint3 bSwitchPoint4 bSwitchPoint5 bSwitchPoint6 bSwitchPoint7 bSwitchPoint8 Identifier/data type Value/meaning 

bSwitchPoint1 

Position switch point 1 

BOOL 

TRUE The current position (dnPosIn_p) is inside the switching range 

defined via C04997/1 and C04998/1. 

bSwitchPoint2 


BOOL 



L 1.4 EN - 08/2006 233 

rotary axis 

linear axis



L_SdSwitchPoint - Position switch points 


bSwitchPoint3 


BOOL 



bSwitchPoint4 


BOOL 



bSwitchPoint5 


BOOL 



bSwitchPoint6 


BOOL 



bSwitchPoint7 


BOOL 



bSwitchPoint8 


BOOL 



Parameters 


C04400/1...8 Status of switching range 1 ... 8 

0 Switch off 

• Read only 

1 Switch on 

C04402/1...8 -2147483648 unit 2147483648 Switch-on limit - switching range 

1...8 

C04403/1...8 -2147483648 unit 2147483648 Switch-off limit - switching range 

1...8 

C04404/1...8 Enable - switching range 1 ... 8 

0 Switching range not enabled 

1 Switching range enabled 

234 1.4 EN - 08/2006 L

4.96 L_SdTouchProbe - Touch probe evaluation 




L_SdTouchProbe - Touch probe evaluation 



This FB takes over the interpolation of the input signal based on the time stamp handed 

over by a touch probe system block and outputs the interpolated value and the difference 

compared with the last input signal. 

� The FB considers a modulo measuring system and the cycle of the selected machine 

parameters. 

Inputs 


dnActPos_p 

Input for accepting the current position in [inc] 

DINT • Connect this input with the signal to be interpolated, e.g. the master value of a 

line drive. 

dnTpTimeLag 

Input for accepting the time stamp 

DINT • Connect this input with the output dnTouchProbeTimeLag of the corresponding 


bTpReceived 

Input for taking over the status "Touch probe detected"" 

BOOL • Connect this input with the output dnTouchProbeReceived of the corresponding 








Outputs 

dnActPos_p 

dnTpTimeLag 

bTpReceived 

AxisData 

L_SdTouchProbe 

dnTpPos_p 

dnTpPosDiff_p 


dnTpPos_p 

Interpolated TP position in [inc] 

DINT 

dnTpPosDiff_p 

Difference between the TP position and the current position in [inc] 

DINT 

L 1.4 EN - 08/2006 235 

TP



L_SdTouchProbe - Touch probe evaluation 

4.96.1 Actual value interpolation (principle) 

If a touch probe is detected, the (residual) time to the following task cycle is determined 

and a time stamp is created from it. Based on this time stamp the FB L_SdTouchProbe can 

execute a linear interpolation between both actual position points. The result is the exact 

actual position at the time of the physical touch probe event. 

Position 

[4-1] Actual value determination through linear interpolation (principle) 

4.96.2 Example 

Data 

processing 

Application 

� Actual position point 1 

� Actual position point 2 

� Residual time (dnTpTimeLag) 

Connections required for a touch probe detection via the digital input DI4: 

LS_TouchProbe4 

[4-2] Transfer of the FB L_SdTouchProbe 

Task cycle Task cycle Task cycle 

TP4_dnTouchProbeTimeLag 

TP4_bTouchProbeReceived 

TP4_bTouchProbeLost 

TP4_bNegativeEdge 

Data 

processing 

p1 

Application 

Touch probe received 

Data 

processing 

Application 

236 1.4 EN - 08/2006 L 

� 

� � 

�� 

� Transfer of the machine parameters (e.g. from SB LS_DriveInterface) 

� Transfer of the current position (e.g. from SB LS_Feedback) 

t1 

dnActPos_p 

dnTpTimeLag 

bTpReceived 

AxisData 

p2 

L_SdTouchProbe 

TP 

dnTpPos_p 

dnTpPosDiff_p 

t 

t

4.97 L_SdUnitToPos - Position conversion 





L_SdUnitToPos - Position conversion 


This FB uses the transmitted machine parameters and converts a position defined in the 

real unit of the machine into an internal position. 

Inputs 


dnPosIn_e4 

Position in [unit] 

DINT • Selection in "e4" format (fixed point with four decimal positions) 







Outputs 


dnPosOut_p 


DINT 

bLimit 


BOOL 


Parameters 

dnPosIn_e4 

AxisData 

L_SdUnitToPos 

[unit] �[inc] 

dnPosOut_p 


Index 


C04310 String from AxisData Position unit 

• Read only 

L 1.4 EN - 08/2006 237 

bLimit



L_SdUnitToSpeed - Speed conversion 

4.98 L_SdUnitToSpeed - Speed conversion 




This FB uses the transmitted machine parameters and converts a speed defined in the real 

unit of the machine into an internal speed. 

Inputs 


dnSpeedIn_e4 

Speed in [unit/s] 

DINT • Selection in "e4" format (fixed point with four decimal positions) 







Outputs 


dnSpeedOut_s 

Speed as speed in [rpm] 

DINT • 15000 rpm ≡ 2 26 ≡ 67108864 

bLimit 


BOOL 


Parameters 

dnSpeedIn_e4 

AxisData 

L_SdUnitToSpeed 

[unit] �[rpm] 

dnSpeedOut_s 


Index 


C04314 String from AxisData Speed unit 

• Read only 

238 1.4 EN - 08/2006 L 

bLimit

4.99 L_Tb5And - AND with 5 inputs 

Function library: LenzeToolbox 


This FB carries out a logic AND operation of binary signals. 

Inputs 

Outputs 



L_Tb5And - AND with 5 inputs 


bIn1 

bIn2 

bIn3 

bIn4 

bIn5 

L_Tb5And 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

bIn3 

Input 3 

BOOL 

bIn4 

Input 4 

BOOL 

bIn5 

Input 5 

BOOL 


bOut 

Result of the AND operation 

BOOL 

� Tip! 

If you want to combine less than five signals, set the unused inputs to TRUE or 

assign several inputs with the same signal. 

L 1.4 EN - 08/2006 239 

& 

bOut



L_Tb5Nand - NAND with 5 inputs 

4.100 L_Tb5Nand - NAND with 5 inputs 




This FB carries out a logic NAND operation of binary signals. 

Inputs 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

bIn3 

Input 3 

BOOL 

bIn4 

Input 4 

BOOL 

bIn5 

Input 5 

BOOL 

Outputs 

bIn1 

bIn2 

bIn3 

bIn4 

bIn5 

L_Tb5Nand 


bOut 

Result of the NAND operation 

BOOL 

� Tip! 

If you want to combine less than five signals, set the unused inputs to TRUE or 

assign several inputs with the same signal. 

240 1.4 EN - 08/2006 L 

& 

bOut

4.101 L_Tb5Nor - NOR with 5 inputs 



This FB carries out a logic NOR operation of binary signals. 

Inputs 

Outputs 



L_Tb5Nor - NOR with 5 inputs 


bIn1 

bIn2 

bIn3 

bIn4 

bIn5 

L_Tb5Nor 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

bIn3 

Input 3 

BOOL 

bIn4 

Input 4 

BOOL 

bIn5 

Input 5 

BOOL 


bOut 

Result of the OR operation 

BOOL 

� Tip! 

If you want to combine less than five signals, set the unused inputs to FALSE. 

L 1.4 EN - 08/2006 241 

� 1 

bOut



L_Tb5Or - OR with 5 inputs 

4.102 L_Tb5Or - OR with 5 inputs 




This FB carries out a logic OR operation of binary signals. 

Inputs 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

bIn3 

Input 3 

BOOL 

bIn4 

Input 4 

BOOL 

bIn5 

Input 5 

BOOL 

Outputs 

bIn1 

bIn2 

bIn3 

bIn4 

bIn5 

L_Tb5Or 


bOut 


BOOL 

� Tip! 

If you want to combine less than five signals, set the unused inputs to FALSE. 

242 1.4 EN - 08/2006 L 

� 1 

bOut

4.103 L_Tb5Xor - XOR with 5 inputs 



This FB carries out a logic EXCLUSIVE OR operation of binary signals. 

Inputs 

Outputs 



L_Tb5Xor - XOR with 5 inputs 


bIn1 

bIn2 

bIn3 

bIn4 

bIn5 

L_Tb5Xor 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

bIn3 

Input 3 

BOOL 

bIn4 

Input 4 

BOOL 

bIn5 

Input 5 

BOOL 


bOut 

Result of the exclusive OR operation 

BOOL 

L 1.4 EN - 08/2006 243 

=1 

bOut



L_Tb8Select - 1-out of-8-selector 

4.104 L_Tb8Select - 1-out of-8-selector 




This FB connects one of eight analog input signals through to the output. 

� The input is selected via the input dwSelect. 

Inputs 


dnIn1 

Input signal 1 ... 8 

... 

dnIn8 

DINT 

dwSelect 

Outputs 

BOOL 

dnIn1 

dnIn2 

dnIn3 

dnIn4 

dnIn5 

dnIn6 

dnIn7 

dnIn8 

dwSelect 


dnOut 

Output signal 

DINT 

L_Tb8Select 

Selection of the input signal for the output to dnOut 

0 0 

1 dnIn1 

2 dnIn2 

3 dnIn3 

4 dnIn4 

5 dnIn5 

6 dnIn6 

7 dnIn7 

8 dnIn8 

> 8 0 

244 1.4 EN - 08/2006 L 

1 

2 

3 

4 

5 

6 

7 

8 

dnOut

4.105 L_TbAbs - Absolute value 





L_TbAbs - Absolute value 


This function block converts a bipolar signal into a unipolar signal, i.e. the absolute value 

of the input signal is generated. 

Inputs 


dnIn 

Input signal 

DINT 

Outputs 

dnIn 


dnOut 

Output signal 

INT 

L_TbAbs 

L 1.4 EN - 08/2006 245 

dnOut



L_TbAdd - Addition 

4.106 L_TbAdd - Addition 




This FB carries out an addition without limitation. 

Inputs 


dnIn1 

1st summand 

DINT 

dnIn2 

2nd summand 

DINT 

Outputs 

L_TbAdd 

dnIn1 

dnIn2 a+b 


dnOut 

Cumulative value (result of the addition) 

DINT • No internal limitation, thus an overflow is possible: 

–If the result > 231-1: dnOut = dnIn1 + dnIn2 - 232 –If the result < 231 : dnOut = dnIn1 + dnIn2 + 232 246 1.4 EN - 08/2006 L 

dnOut

4.107 L_TbAddLim - Addition with limitation 



This FB carries out an addition with limitation. 

� The value output to output dnOut is internally limited to ±231-1. � The output bLimitActive displays if a limitation is active. 

Inputs 

Outputs 



L_TbAddLim - Addition with limitation 


L_TbAddLim 

dnIn1 

dnIn2 a+b 


dnIn1 

1st summand 

DINT 

dnIn2 

2nd summand 

DINT 

dnOut 

bLimitActive 


dnOut 

Cumulative value (result of the addition) 

DINT • Internally limited to ±2 31 -1 

bLimitActive 

Status signal "Limitation active" 

BOOL 

TRUE The output signal is limited. 

L 1.4 EN - 08/2006 247



L_TbAnd - AND with 2 inputs 

4.108 L_TbAnd - AND with 2 inputs 




This FB carries out a logic AND operation of binary signals. 

Inputs 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

Outputs 


bOut 

Result of the AND operation 

BOOL 

Function 

bIn1 

bIn2 

L_TbAnd 

bIn2 bIn1 bOut 

FALSE FALSE FALSE 

FALSE TRUE FALSE 

TRUE FALSE FALSE 

TRUE TRUE TRUE 

248 1.4 EN - 08/2006 L 

& 

bOut

4.109 L_TbCompare - comparison 





L_TbCompare - comparison 


This function block compares two signals of the "DINT" data type and can be used e.g. for 


� The comparison function is selected via C04085. 

� In contrast to the FB L_TbCompare_n, the window and hysteresis of this FB can be 

adjusted via inputs instead of parameters. 

Inputs 


dnIn1 

Input signal 1 

DINT 

dnIn2 


DINT 

dnTolerance 

Window for comparison operation 

DINT • Value is internally limited to ≥0. 

dnHysteresis 

Hysteresis for comparison operation 


Outputs 


bOut 

Status signal "Comparison statement is true" 

BOOL 

TRUE The statement of the selected comparison mode is true. 

Parameters 

dnIn1 

dnIn2 

dnTolerance 

dnHysteresis 

L_TbCompare 


C04085 Comparison operation 

0 dnIn1 = dnIn2 Lenze setting 

1 dnIn1 > dnIn2 

2 dnIn1 < dnIn2 

3 |dnIn1| = |dnIn2| 

4 |dnIn1| > |dnIn2| 

5 |dnIn1| < |dnIn2| 

L 1.4 EN - 08/2006 249 

bOut




4.109.1 Function 1: dnIn1 = dnIn2 

Selection: C04085 = "0" 

� This function compares two signals with regard to equality. They can, for instance, 

provide the comparison "actual speed equals setpoint speed " (nact = nset ). 

� Use the input dnTolerance to select the window within which the equality is to apply: 

� Use the input dnHysteresis to select a hysteresis if the input signals are not stable and 

the output oscillates. 

[4-1] Function 1: Switching performance 

� Tip! 

With this function, you must use the FB in a fast task, to achieve optimum 

sampling of the signals. 

[4-2] Function 1: Example 

bOut 

TRUE 

dnTolerance dnTolerance 

FALSE 

dnIn1 

dnHysteresis 

dnTolerance 

dnIn2 

dnTolerance 

dnHysteresis 

dnHysteresis dnHysteresis 

dnIn2 

bOut 

TRUE 

FALSE 

250 1.4 EN - 08/2006 L 

dnIn1 

t 

t

4.109.2 Function 2: dnIn1 > dnIn2 





� This function serves, for instance, to implement the comparison "actual speed is higher 

than a limit value" (nact > nx ) for one direction of rotation. 


Functional sequence 

1. If the value at dnIn1 exceeds the value at dnIn2, bOut changes from FALSE to TRUE. 

2. Only if the signal at dnIn1 falls below the value at dnIn2 - dnHysteresis again, bOut 

changes from TRUE to FALSE. 


bOut 

TRUE 

dnHysteresis 

FALSE 

dnIn1 

dnIn2 

dnHysteresis 

bOut 

TRUE 

FALSE 

dnIn2 

L 1.4 EN - 08/2006 251 

dnIn1 

t 

t




4.109.3 Function 3: dnIn1 < dnIn2 


� This function serves, for instance, to implement the comparison "actual speed is lower 

than a limit value" (nact nx ) for one direction of rotation. 



1. If the value at dnIn1 falls below the value at dnIn2, bOut_b changes from FALSE to TRUE. 

2. Only if the signal at dnIn1 exceeds the value at dnIn2 - dnHysteresis again, bOut_b 



bOut 

TRUE 

dnHysteresis 

FALSE 

dnIn2 

dnIn1 

dnHysteresis 

dnIn2 

bOut 

TRUE 

FALSE 

252 1.4 EN - 08/2006 L 

dnIn1 

t 

t

4.109.4 Function 4: |dnIn1| = |dnIn2| 





� This function serves, for instance, to implement the comparison "nact = 0". 

� This function behaves like function 1. However, the amount is generated by the input 

signals before signal processing (without sign). 

�Function 1: dnIn1 = dnIn2 (� 250) 

4.109.5 Function 5: |dnIn1| > |dnIn2| 


� This function serves, for instance, to implement the comparison "|nact | > |nx |" 

independent of the direction of rotation. 



�Function 2: dnIn1 > dnIn2 (� 251) 

4.109.6 Function 6: |dnIn1| < |dnIn2| 


� This function serves to implement the comparison "|nact | < |nx |" independent of the 

direction of rotation. 



�Function 3: dnIn1 < dnIn2 (� 252) 

L 1.4 EN - 08/2006 253



L_TbCompare_n - scaled comparison 

4.110 L_TbCompare_n - scaled comparison 




This function block compares two scaled signals and can be used e.g. for implementing a 

trigger. 

� The comparison function is selected via C04080. 

� In contrast to the FB L_TbCompare, the window and hysteresis of this FB can be 

adjusted via parameters instead of inputs. 

Inputs 


dnIn1_n 


DINT • Scaling: 100 % ≡ 2 30 ≡ 1073741824 

dnIn2_n 


DINT • Scaling: 100 % ≡ 230 ≡ 1073741824 

Outputs 


bOut 

Status signal "Comparison statement is true" 

BOOL 

TRUE The statement of the selected comparison mode is true. 

Parameters 

dnIn1_n 

dnIn2_n 

L_TbCompare_n 


C04080 Comparison operation 

0 dnIn1_n = dnIn2_n Lenze setting 

1 dnIn1_n > dnIn2_n 

2 dnIn1_n < dnIn2_n 

3 |dnIn1_n| = |dnIn2_n| 

4 |dnIn1_n| > |dnIn2_n| 

5 |dnIn1_n| < |dnIn2_n| 

C04081 0.00 % 100.00 Tolerance 


C04082 0.00 % 100.00 Hysteresis 


254 1.4 EN - 08/2006 L 

bOut

4.110.1 Function 1: dnIn1_n = dnIn2_n 





� This function compares two signals with regard to equality. They can, for instance, 

provide the comparison "actual speed equals setpoint speed " (nact = nset ). 

� Use C04081 to select the window within which the equality is to apply. 

� Use C04082 to select a hysteresis if the input signals are not stable and the output 

oscillates. 


� Tip! 

With this function, you must use the FB in a fast task, to achieve optimum 

sampling of the signals. 


bOut 

TRUE 

C04081 C04081 

FALSE 

dnIn1_n 

C04082 

C04081 

dnIn2_n 

C04081 

C04082 

bOut 

TRUE 

FALSE 

C04082 C04082 

dnIn2_n 

dnIn1_n 

L 1.4 EN - 08/2006 255 

t 

t




4.110.2 Function 2: dnIn1_n > dnIn2_n 


� This function serves, for instance, to implement the comparison "actual speed is higher 

than a limit value" (nact > nx ) for one direction of rotation. 



1. If the value at dnIn1_n exceeds the value at dnIn2_n, bOut changes from FALSE to TRUE. 

2. Only if the signal at dnIn1_n falls below the value at dnIn2_n - C04082 again, bOut 



bOut 

TRUE 

FALSE 

dnIn1_n 

dnIn2_n 

C04082 

bOut 

TRUE 

FALSE 

C04082 

dnIn2_n 

dnIn1_n 

256 1.4 EN - 08/2006 L 

t 

t

4.110.3 Function 3: dnIn1_n < dnIn2_n 





� This function serves, for instance, to implement the comparison "actual speed is lower 

than a limit value" (nact nx ) for one direction of rotation. 



1. If the value at dnIn1_n falls below the value at dnIn2_n, bOut_b changes from FALSE to 

TRUE. 

2. Only if the signal at dnIn1_n exceeds the value at dnIn2_n - C04082 again, bOut_b 



bOut 

TRUE 

FALSE 

dnIn1_n 

C04082 

dnIn2_n 

bOut 

TRUE 

FALSE 

C04082 

dnIn2_n 

dnIn1_n 

L 1.4 EN - 08/2006 257 

t 

t




4.110.4 Function 4: |dnIn1_n| = |dnIn2_n| 


� This function serves, for instance, to implement the comparison "nact = 0". 



�Function 1: dnIn1_n = dnIn2_n (� 255) 

4.110.5 Function 5: |dnIn1_n| > |dnIn2_n| 


� This function serves, for instance, to implement the comparison "|nact | > |nx |" 

independent of the direction of rotation. 



�Function 2: dnIn1_n > dnIn2_n (� 256) 

4.110.6 Function 6: |dnIn1_n| < |dnIn2_n| 


� This function serves to implement the comparison "|nact | < |nx |" independent of the 

direction of rotation. 



�Function 3: dnIn1_n < dnIn2_n (� 257) 

258 1.4 EN - 08/2006 L

4.111 L_TbCount - Up/downcounter 





L_TbCount - Up/downcounter 


This FB is a digital up/downcounter with adjustable limitation. 

� Under C04005 you can select if the counter is to be stopped or reset automatically 

when reaching the limitation. 

Inputs 


bClockUp 

Upcounter 

BOOL 

FALSE�TRUE Increase counter by "1". 

bClockDown 

Downcounter 

BOOL 

FALSE�TRUE Reduce counter by "1". 


Accept starting value 


TRUE The starting value specified via dnStartValue is loaded into the 

counter. 

dnStartValue 

Starting value 

DINT 

dnReferenceValue 

Comparison value 

DINT 

Outputs 

bClockUp 

bClockDown 

bLoadStartValue CTRL 

dnStartValue 

dnReferenceValue 

L_TbCount 

dnActualCount 

bCountEQReference 


dnActualCount 

Current counter content 

DINT 

bCountEQReference 

Result of the comparison of current counter content and comparison value 

BOOL 

TRUE |dnActualCount| ≥ |dnReferenceValue| 

L 1.4 EN - 08/2006 259



L_TbCount - Up/downcounter 

Parameters 


C04005 Reset function 

0 After reaching the reference value 

the counter is automatically reset to 

the starting value. 

Lenze setting 

1 The reached reference value is 

maintained until a reset via 

bLoadStartValue is executed. 

4.111.1 Function 1: Automatic counter reset 



1. If the amount of the current counter content ≥ the amount of the comparison value, 

the output bCountEQReference is set to TRUE (|dnActualCount| ≥ |dnReferenceValue|). 

2. In the next cycle the counter is reset to the starting value dnStartValue and the output 

bCountEQReference is reset to FALSE. 

4.111.2 Function 2: Counter stop at upper limit 



1. If the amount of the current counter content ≥ the amount of the comparison value, 

the output bCountEQReference is set to TRUE (|dnActualCount| ≥ |dnReferenceValue|). 

2. The counter inputs bClockUp and bClockDown are deactivated at the same time, i.e. 

counting upwards or downwards is not possible anymore. 

3. By setting bLoadStartValue to TRUE the counter is reset to the starting value 

dnStartValue and the counter inputs bClockUp and bClockDown are evaluated again. 

260 1.4 EN - 08/2006 L

4.112 L_TbCurve - characteristic function 





L_TbCurve - characteristic function 

Runtime software license: � MotionControl StateLevel � MotionControl HighLevel � MotionControl TopLevel � PLC 

This FB represents a characteristic/curve function y = f(x). Here, the input signal 

corresponds to the x axis and the output signal corresponds to the y axis. 

� The characteristic can consist of up to nine points which are defined by parameters. 

� Between the points a linear interpolation takes place. 

� The characteristic can be entered over the entire value range and can also be created 

symmetrically to the y axis or zero point by selecting the corresponding characteristic 

mode in C04100. 

Inputs 


dnIn_n 

Input signal 

DINT 

Outputs 


dnOut_n 

Output signal 

DINT 

Parameters 

dnIn_n 

L_TbCurve 

dnOut_n 


Index 


C04100 Characteristic mode 

0 Entire range Lenze setting 

1 Symmetrically to the y axis 

2 Symmetrically to the zero point 

C04101/1...9 -200.00 % 200.00 X values of the characteristic 

function 

• Subcode 1 ... 9 correspond to the 

point values X1 ... X9. 


C04102/1...9 -200.00 % 200.00 Y values of the characteristic 

function 

• Subcode 1 ... 9 correspond to the 

point values Y1 ... Y9. 


L 1.4 EN - 08/2006 261




4.112.1 Selection of the characteristic 

The up to nine points of the characteristic are selected via the subcodes of C04101 and 

C04102. 

� The same subcodes of C04101 and C04102 correspond to a pair of variates/point (Xn, 

Yn). 

1 2 ... 9 

x C04101/1 C04101/2 C04101/... C04101/9 

Y C04102/1 C04102/2 C04102/... C04102/9 

� The first pair of variates (C04101/1 and C04102/1) is always valid. 

� The X values of the characteristic must be entered in ascending order 

(X1




� If only one point X1 is defined in the negative range, X2 exists with the Lenze setting 

"0 %" as valid point (X2 > X1) both points form a line: 

1 2 3 4 5 6 7 8 9 

x -130 % 0% 0% 0% 0% 0% 0% 0% 0% 

Y 40 % 0% 0% 0% 0% 0% 0% 0% 0% 

-200 % / -200 % 

dnOut_n 

X1, Y1 X2, Y2 

200 % / 200 % 

[4-2] Example: Characteristic in characteristic mode 0 (entire range) with only one defined point and X1 < 0 

� If only one point X1 is defined in the positive range, a line is extrapolated: 

[4-3] Example: Characteristic in characteristic mode 0 (entire range) with only one defined point and X1 < 0 

L 1.4 EN - 08/2006 263 

dnIn_n 

1 2 3 4 5 6 7 8 9 

x 120 % 0 % 0 % 0 % 0 % 0 % 0 % 0 % 0 % 

Y 40 % 0 % 0 % 0 % 0 % 0% 0 % 0 % 0% 

-200 % / -200 % 

dnOut_n 

200 % / 200 % 

X1, Y1 

dnIn_n




4.112.2 Characteristic mode 0: Entire range 

If "Entire range" is selected in C04100, the entire characteristic range (quadrants I ... IV) is 

valid. 

Example 

1 2 3 4 5 6 7 8 9 

x -140 % -90 % 70 % 130 % 0 % 0 % 0 % 0 % 0 % 

Y -140 % -40 % 120 % 160 % 0 % 0 % 0 % 0 % 0 % 

[4-4] Example: Characteristic in characteristic mode 0 (entire range) 

4.112.3 Characteristic mode 1: Symmetrically to y axis 

If "Symmetrically to y axis" is selected in C04100, the resulting characteristic is mirrored 

along the y axis in the I. and IV. quadrant. 

Example 

X2, Y2 

-200 % / -200 % 

X1, Y1 

dnOut_n 

[4-5] Example: Characteristic in characteristic mode 1 (symmetrically to y axis) 

200 % / 200 % 

264 1.4 EN - 08/2006 L 

II. 

III. 

X4, Y4 

I. 

IV. 

X3, Y3 

dnIn_n 

1 2 3 4 5 6 7 8 9 

x -140 % -90 % 70 % 130 % 0 % 0 % 0 % 0 % 0 % 

Y -140 % -40 % 120 % 160 % 0 % 0 % 0 % 0 % 0 % 

X2, Y2 

-200 % / -200 % 

X1, Y1 

II. 

III. 

dnOut_n 

X4, Y4 

I. 

IV. 

X3, Y3 

200 % / 200 % 

dnIn_n

4.112.4 Characteristic mode 2: Symmetrically to zero point 




If "Symmetrically to zero point" is selected in C04100, the resulting characteristic is 

mirrored along the zero point in the I. and IV. quadrant. 

Example 

1 2 3 4 5 6 7 8 9 

x -140 % -90 % 70 % 130 % 0 % 0 % 0 % 0 % 0 % 

Y -140 % -40 % 120 % 160 % 0 % 0 % 0 % 0 % 0 % 

X2, Y2 

X1, Y1 

-200 % / -200 % 

dnOut_n 

[4-6] Example: Characteristic in characteristic mode 2 (symmetrically to zero point) 

200 % / 200 % 

L 1.4 EN - 08/2006 265 

II. 

III. 

X4, Y4 

I. 

IV. 

X3, Y3 

dnIn_n



L_TbDeadband - Dead band with gain 

4.113 L_TbDeadband - Dead band with gain 




This FB produces a symmetrical dead band around zero. 

� The attenuation of the input signal caused by the dead band can be compensated by a 

parameterisable gain. 


� The function corresponds by approximation to the function "DB" of the 9300 servo 

inverter. 

Inputs 


dnIn 

Input signal 

DINT 

dnDeadband 

Dead band area for the input signal 


Outputs 


dnOut 

Output signal 

DINT • If |dnIn| ≤ dnDeadband the output is set to zero. 

• If |dnIn| > dnDeadband the difference multiplied by the parameterised gain is 

output as output signal. 

• The sign results from the sign of dnIn and the sign of the selected gain. 

• Internally limited to ±2 31 -1 

bLimitActive 

Output signal within the limitation 

BOOL 

TRUE The output signal dnOut is limited. 

Parameters 

dnIn 

dnDeadband 

L_TbDeadband 

dnOut 

bLimitActive 


C04065 -214748.3647 214748.3647 Gain 


266 1.4 EN - 08/2006 L

Function 

[4-1] Dead band and gain 

dnOut 

dnDeadBand 

(C04065 = 1) 

dnIn 



L_TbDeadband - Dead band with gain 

L 1.4 EN - 08/2006 267 

dnOut 

C04065 

(dnDeadBand = 0) 

dnIn



L_TbDeadband_n - Scaled dead band with gain 

4.114 L_TbDeadband_n - Scaled dead band with gain 




This FB produces a symmetrical dead band around zero. 

� The attenuation of the input signal caused by the dead band can be compensated by a 

parameterisable gain. 

� The value output to dnOut is internally limited to ±200 %. 

� The output bLimitActive displays if a limitation is active. 

� The function corresponds by approximation to the function "DB" of the 9300 servo 

inverter. 

Inputs 


dnIn_n 

Input signal 

DINT 

Outputs 


dnOut_n 

Output signal 

DINT • If |dnIn_n| ≤ C04060 the output is set to zero. 

• If |dnIn_n| > C04060 the difference multiplied by the parameterised gain is 

output as output signal. 

• The sign results from the sign of dnIn_n and the sign of the selected gain. 

• Internally limited to ±200 % 

bLimitActive 


BOOL 

TRUE The output signal dnOut_n is limited. 

Parameters 

dnIn_n 

L_TbDeadband_n 

dnOut_n 

bLimitActive 


C04060 0.00 % 100.00 Dead band 


C04061 -214748.3647 214748.3647 Gain 


268 1.4 EN - 08/2006 L

Function 

[4-1] Dead band and gain 

dnOut_n 

C04060 

(C04061 = 1) 

dnIn_n 



L_TbDeadband_n - Scaled dead band with gain 

dnOut_n 

C04061 

(C04060 =0%) 

L 1.4 EN - 08/2006 269 

dnIn



L_TbDelay - Delay 

4.115 L_TbDelay - Delay 




This FB delays binary signals. 

� The edge to be delayed is selected via the parameter C04010. 

� The delay time is set via the parameter C04011. 

� The function corresponds to the function "DIGDEL" of the 9300 servo inverter. 

Inputs 


bin 

Input 

BOOL 

Outputs 


bOut 

Output with time-delayed input signal 

BOOL 

Parameters 

bIn 

L_TbDelay 

0 t 


C04010 Selection of the edge to be delayed 

0 Rising edge Lenze setting 

1 Falling edge 

2 Both edges 

C04011 0.000 s 60.000 Delay time 


270 1.4 EN - 08/2006 L 

bOut

4.115.1 Function 1: ON-delay 

Selection: C04010 = "0" (Lenze setting) 

� In this mode, the FB operates like a retriggerable monoflop. 

bIn 

TRUE 

FALSE 

bOut 

TRUE 

FALSE 

C04011 

� 


C04011 C04011 




� = internal timing element 

1. A FALSE-TRUE edge at bIn starts the internal timing element (�). 

2. After the delay time set via C04011 has elapsed, bOut is set to TRUE. 

3. A TRUE-FALSE edge at bIn sets bOut to FALSE again. Simultaneously, the internal timing 

element is reset. 

L 1.4 EN - 08/2006 271 

t 

t 

t




4.115.2 Function 2: OFF-delay 


bIn 

TRUE 

FALSE 

bOut 

TRUE 

FALSE 

C04011 

� 


1. A FALSE-TRUE edge at bIn sets bOut to TRUE. Simultaneously, the internal timing 

element (�) is reset. 

2. A TRUE-FALSE edge at bIn starts the internal timing element. 

3. After the delay time set via C04011 has elapsed, bOut is reset to FALSE. 

4.115.3 Function 3: General delay 


bIn 

TRUE 

FALSE 

bOut 

TRUE 

FALSE 

C04011 

� 


C04011 C04011 C04011 

C04011 C04011 

� = internal timing element 

1. Any edge at bIn resets and starts the internal timing element (�). 

2. After the delay time set via C04011 has elapsed, the input signal bIn is output to bOut. 

272 1.4 EN - 08/2006 L 

t 

t 

t 

t 

t 

t 

� = internal timing element

4.116 L_TbDifferentiate - Differentiator with low-pass filter 




L_TbDifferentiate - Differentiator with low-pass filter 



This FB represents a differentiator with low pass. 

� The input signal is differentiated and the filtered with the filter time constant set via 

the parameter C04050. 


Inputs 


dnIn 

Input signal 

DINT 

Outputs 


dnOut 

Output signal 

DINT • Internally limited to ±231-1 bLimitActive 


BOOL 


Parameters 

dnIn 

L_TbDifferntiate 

dnOut 

bLimitActive 


C04050 0.001 s 60.000 Filter time constant TFilter • Initialisation: 0.001 s 

L 1.4 EN - 08/2006 273



L_TbDifferentiate - Differentiator with low-pass filter 

Function 

Considering the signalling technique, the FB consists of the series connection of a timediscrete 

differentiator and a PT1 filter. 

� The filtering of the output signal can be switched off with the setting of the filter time 

constant TFilter to "0.001 s". In this case, the output signal results directly from: 

[4-1] Formula for the output signal when the filter is switched off 

[4-2] Step response when filter is switched off 

� When the filter is switched on, each change of the input signal is evaluated with 1 s/ 

T Filter. Then the output signal tends to zero with the filter time constant T Filter: 

C04050: Filter time constant T Filter 

1s 

T Cycle 

1s 

T Filter 

[4-3] Step response when the filter is switched on 

1 s 

dnOut = ΔdnIn ⋅ -------------------------------------- 

Task cycle time 

dnOut 

dnOut 

274 1.4 EN - 08/2006 L 

T Cycle 

T Filter 

t 

t

4.117 L_TbDiv - Division 



This FB carries out a division with remainder. 

Inputs 

Outputs 



L_TbDiv - Division 


dnNumerator 

dnDenominator 

L_TbDiv 


dnNumerator 

Dividend (numerator) 

DINT 

dnDenominator 

Divisor (denominator) 

DINT 


dnOut 

Quotient value (integer result of division) 

DINT 

dnResidualValue 

Remainder 

DINT 

L 1.4 EN - 08/2006 275 

a 

b 

dnOut 

dnResidualValue



L_TbDiv_n - Scaled division 

4.118 L_TbDiv_n - Scaled division 




This FB carries out a division. The divisor (denominator) must be specified as a scaled signal 

[%]. 

� With a divisor of 100 % the dividend is output unchanged. 


Inputs 


dnNumerator 

Dividend (numerator) 

DINT 

dnDenominator_n 

Divisor (denominator) 

DINT • Scaling: 100 % ≡ 230 ≡ 1073741824 

Outputs 

dnNumerator 

dnDenominator_n 

L_TbDiv_n 

dnOut 

bLimitActive 


dnOut 

Quotient value (result of the division) 

DINT • Internal limitation to ±2 31 -1 (≡ ±200 %) 

bLimitActive 


BOOL 


276 1.4 EN - 08/2006 L 

a 

b

4.119 L_TbFlipFlopD - D flipflop 





L_TbFlipFlopD - D flipflop 


This FB is created as a D flipflop and can be used to evaluate and save digital signal edges. 

� With each rising edge at the clock input bClk the current status of the input bD is saved 

internally and output to the output bOut. 

� The flipflop can be reset by a TRUE signal at the reset input bR which has the highest 

priority. 

Inputs 


BD 

Input 

BOOL 

bClk 

Saving of input value 

BOOL 

FALSE�TRUE The input value bD is saved internally and output to bOut until a new 

value is saved or the flipflop is reset via bR. 

bR 

Flipflop reset 


TRUE The output bOut is reset to FALSE. 

Outputs 

bClk 

bR 


bQ 

State of the D flipflop 

BOOL 

bQn 

Inverted state of the D flipflop (≡ bQ) 

BOOL 

bD 

L_TbFlipFlopD 

L 1.4 EN - 08/2006 277 

D 

CLR 

Q 

Q 

bQ 

bQn



L_TbFlipFlopD - D flipflop 

Function 

bD 

TRUE 

FALSE 

bClk 

TRUE 

FALSE 

bR 

TRUE 

FALSE 

bQ 

TRUE 

FALSE 

[4-1] Switching performance of the D flipflop 

278 1.4 EN - 08/2006 L 

t 

t 

t 

t

4.120 L_TbFlipFlopRS - Status-controlled RS flipflop 




L_TbFlipFlopRS - Status-controlled RS flipflop 



This FB is created as an RS flipflop and can be used to evaluate and save digital signals. 

� The RS flipflop is set with a TRUE signal at the set input bS and reset with a TRUE signal 

at the reset input bR. 

� If both inputs are applied with a FALSE signal, the output state is maintained. 

Inputs 


bS 

Set input 

BOOL 

TRUE Set RS flipflop. 

bR 

Reset input 

BOOL 

TRUE Reset RS flipflop. 

Outputs 


bQ 

State of the RS flipflop 

BOOL 

bQn 

Inverted state of the RS flipflop (≡ bQ) 

BOOL 

Function 

bS 

bR 

L_TbFlipFlopRS 

S Q 

bS bR bQ bQn 

FALSE FALSE unchanged unchanged 

TRUE FALSE TRUE FALSE 

FALSE TRUE FALSE TRUE 

TRUE TRUE FALSE TRUE 

L 1.4 EN - 08/2006 279 

R 

Q 

bQ 

bQn



L_TbGainLim - Gain with limitation 

4.121 L_TbGainLim - Gain with limitation 




This FB amplifies the input signal. 

� The gain is set via the parameter C04030. 

� The value output to output dnOut is internally limited to ±2 31 -1. 


Inputs 


dnIn 

Input signal 

DINT 

Outputs 


dnOut 

Output signal 


bLimitActive 


BOOL 

TRUE The output signal dnOut is limited. 

Parameters 

dnIn 

L_TbGainLim 

dnOut 

bLimitActive 


C04030 -214748.3647 214748.3647 Gain 


280 1.4 EN - 08/2006 L

Function 

[4-1] Gain and limitation 

dnOut 

2 31 

-1 



L_TbGainLim - Gain with limitation 

C04030 > 1 

L 1.4 EN - 08/2006 281 

-2 31 

-1 

dnIn



L_TbIntegrate - Integration with limitation 

4.122 L_TbIntegrate - Integration with limitation 




This FB carries out an integration with limitation. 


Inputs 


dnIn 

Input signal 

DINT 


Loading of the integrator 

BOOL 

TRUE Load the integrator with the value at the dnStartValue input. 

dnStartValue 

Value with which the integrator is loaded by setting bLoadStartValue to TRUE. 

DINT 

Outputs 

dnIn 


dnStartValue 

L_TbIntegrate 


dnOut 

Output signal 



BOOL 


282 1.4 EN - 08/2006 L 

dnOut 

bLimitActive

4.123 L_TbLimit - Limit 



This FB limits a signal of "DINT" data type to an adjustable value range. 

Inputs 

Outputs 



L_TbLimit - Limit 


dnIn 

dnMaxLimit 

dnMinLimit 


dnIn 

Input signal 

DINT 

dnMaxLimit 

Upper limitation 

DINT 

dnMinLimit 

Lower limitation 

DINT 


dnOut 

Output signal 

DINT 

L_TbLimit 

� Tip! 

The lower limit must always be set smaller than the upper limit, otherwise the 

value "0" is output at dnOut. 

L 1.4 EN - 08/2006 283 

MaxLimit 

MinLimit 

dnOut



L_TbLimit_n - Scaled limitation 

4.124 L_TbLimit_n - Scaled limitation 




This FB limits a scaled signal [%] to an adjustable value range. 

� The upper and lower limits of the value range are set via the parameters C04070 and 

C04071. 


Inputs 


dnIn_n 

Input signal 

DINT • Scaling: 100 % ≡ 230 ≡ 1073741824 

Outputs 


dnOut_n 

Output signal 

DINT • Scaling: 100 % ≡ 2 30 ≡ 1073741824 

bLimitActive 


BOOL 


Parameters 

dnIn_n 

L_TbLimit_n 

dnOut_n 

bLimitActive 


Index 


C04070 -200.00 % 200.00 Upper limitation 


C04071 -200.00 % 200.00 Lower limitation 

• Initialisation: -100.00 % 

� Tip! 

The lower limit must always be set smaller than the upper limit, otherwise the 

value "0" is output at dnOut_n. 

284 1.4 EN - 08/2006 L 

C04070 

C04071

4.125 L_TbMul - Multiplication 



This FB carries out a multiplication without limitation. 

Inputs 

Outputs 



L_TbMul - Multiplication 


L_TbMul 

dnIn1 

dnIn2 a*b 


dnIn1 

Multiplier (1st factor) 

DINT 

dnIn2 

Multiplicand (2nd factor) 

DINT 


dnOut 

Product value (result of the multiplication) with overflow 

DINT • No internal limitation, thus an overflow is possible. 

L 1.4 EN - 08/2006 285 

dnOut



L_TbMul_n - Scaled multiplication with limitation 

4.126 L_TbMul_n - Scaled multiplication with limitation 




This FB carries out a multiplication. The multiplicand (2. factor) must be specified as a 

scaled signal [%]. 



Inputs 


dnIn1 


DINT 

dnIn2_n 


DINT • Scaling: 100 % ≡ 2 30 ≡ 1073741824 

Outputs 

L_TbMul_n 

dnIn1 

dnIn2_n a*b 

dnOut 

bLimitActive 


dnOut 

Product value (result of the multiplication) 



BOOL 


286 1.4 EN - 08/2006 L

4.127 L_TbMulLim - Multiplication with limitation 


This FB carries out a multiplication with limitation. 



L_TbMulLim - Multiplication with limitation 




Inputs 


dnIn1 


DINT 

dnIn2 


DINT 

Outputs 

L_TbMulLim 

dnIn1 

dnIn2 a*b 

dnOut 

bLimitActive 


dnOut 

Product value (result of the multiplication) 


bLimitActive 


BOOL 


L 1.4 EN - 08/2006 287



L_TbNand - NAND with 2 inputs 

4.128 L_TbNand - NAND with 2 inputs 




This FB carries out a logic NAND operation of binary signals. 

Inputs 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

Outputs 


bOut 

Result of the NAND operation 

BOOL 

Function 

L_TbNand 

bIn1 

bIn2 & 


FALSE FALSE TRUE 

FALSE TRUE TRUE 

TRUE FALSE TRUE 

TRUE TRUE FALSE 

288 1.4 EN - 08/2006 L 

bOut

4.129 L_TbNeg - Negation 





L_TbNeg - Negation 


This function block inverts the sign of the input signal, i.e. the input signal is multiplied by 

-1 and is then output. 

Inputs 


dnIn 

Input signal 

DINT 

Outputs 

dnIn 


dnOut 

Output signal 

DINT 

L_TbNeg 

L 1.4 EN - 08/2006 289 

*(-1) 

dnOut



L_TbNor - NOR with 2 inputs 

4.130 L_TbNor - NOR with 2 inputs 





Inputs 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 

Outputs 


bOut 

Result of the NOR operation 

BOOL 

Function 

bIn1 

bIn2 

L_TbNor 


FALSE FALSE TRUE 

FALSE TRUE FALSE 

TRUE FALSE FALSE 


290 1.4 EN - 08/2006 L 

� 1 

bOut

4.131 L_TbNormalize - Signal scaling with limitation 


This FB scales any signal to a parameterisable reference variable. 

Inputs 

Outputs 

Parameters 

Function 



L_TbNormalize - Signal scaling with limitation 



dnIn 

L_TbNormalize 


dnIn 

Input signal 

DINT 

dnOut_n 

bLimitActive 


dnOut_n 

Scaled output signal 


bLimitActive 


BOOL 



C04035 -2147483647 2147483647 Reference variable 

• Setting "0" is not possible. 


dnIn 

dnOut_n = 

------------------- ⋅ 100 % 

C04035 

L 1.4 EN - 08/2006 291



L_TbNot - Negation 

4.132 L_TbNot - Negation 




This FB negates a signal from the BOOL data type. 

Inputs 


bin 

Input 

BOOL 

Outputs 


bOut 

Result of the NOT operation 

BOOL 

Function 

bIn 

L_TbNot 

bin bOut 

FALSE TRUE 

TRUE FALSE 

292 1.4 EN - 08/2006 L 

1 

bOut

4.133 L_TbOr - OR with 2 inputs 




Inputs 

Outputs 

Function 



L_TbOr - OR with 2 inputs 


bIn1 

bIn2 

L_TbOr 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 


bOut 


BOOL 





TRUE TRUE TRUE 

L 1.4 EN - 08/2006 293 

� 1 

bOut



L_TbOscillator - Rectangular signal generator 

4.134 L_TbOscillator - Rectangular signal generator 

This FB can be used to generate a Boolean square wave signal with a variable high/low 

time. 

Inputs 

Outputs 

Parameters 

4.134.1 Function 





bEnable 

Activating the signal generator 

BOOL 

FALSE Signal generator deactivated, bOut = FALSE. 

TRUE Signal generator activated. 


bOut 

Boolean square wave signal 

BOOL 


C04020 0.000 s 60.000 ON time 


C04021 0.000 s 60.000 OFF time 


If the FB is activated by setting bEnable to TRUE, the set square wave signal is output to 

bOut, starting with the HIGH state: 

bEnable 

bOut 

L_TbOscillator 

bEnable bOut 

C04020 

C04021 

� If bEnable is reset to FALSE, the output bOut is also immediately reset to FALSE. 

294 1.4 EN - 08/2006 L

4.134.2 Optimising the accuracy of the output signal 



L_TbOscillator - Rectangular signal generator 

Enter only integer multiples of the task cycle time via C04020 and C04021 for a maximum 

accuracy of the rectangular signal to be output. 

� In case of an asymmetrical entry of the pulse/pause time and non-compliance with the 

times selected as integer multiples of the task cycle time, the times selected are 

internally rounded up to integer multiples of the task cycle times. 

� With a minimum timing below the task cycle time the permanent level arises according 

to the following rule: bOut = TRUE if C04020 > C04021. 

� The following table lists the possible input signal states and the resulting output 

signal: 

Task running 

time 

t 

On time 

C04020 

Off time 

C04021 

1 ms 3 ms 2 ms ON time, OFF time ≥ T 

ON time > OFF time 

3 ms 3 ms 2 ms ON time ≥ T 

OFF time < T 


3 ms 2 ms 1 msec On time, OFF time < T 


3 ms 1 msec 2 ms On time, OFF time < T 

ON time < OFF time 

3 ms 2 ms 2 ms On time, OFF time < T 

ON time = OFF time 

3 ms 2 ms 3 ms ON time < T 

OFF time ≥ T 




OFF time ≠ (n * T) 



ON time ≠ (n * T) 

State of ON and OFF time Output signal 

bOut 



ON time, OFF time ≠ (n * T) 





ON time = OFF time 


TRUE: 3 ms, FALSE: 2 ms 

L 1.4 EN - 08/2006 295 

TRUE 

TRUE 

FALSE 

FALSE 

FALSE 





TRUE: 6 ms, FALSE: 6 ms



L_TbPIController - PI controller with limitation 

4.135 L_TbPIController - PI controller with limitation 




This FB provides a simple PI controller with different control functions. 

� The value output to the output dnOut is internally limited to the limit range 

parameterised in C04095 and C04096 (default setting ±200 %). 


� The function corresponds by approximation to the function "PCTRL" of the 9300 servo 

inverter. 

Inputs 


dnSetValue 

Setpoint signal 

DINT 

dnActValue 

Actual signal 

DINT 

bLoadIntValue 

Loading of the integrator 

BOOL 

TRUE Set the integral action component of the PI controller to the value 

applied to the input dnIntValue. 

dnIntValue 

Value on which the integral action component of the PI controller is adjusted by 

DINT setting bLoadIntValue to TRUE. 

bReset 

Reset PI controller to zero. 

BOOL 

TRUE PI controller is reset to zero. 

Outputs 

dnSetValue 

dnActValue 

bLoadIntValue 

dnIntValue 

bReset 

L_TbPIController 

dnOut 

bLimitActive 


dnOut 

Output signal 

DINT • Is internally limited to the limit range parameterised in C04095 and C04096 

(default setting ±200 %). 

bLimitActive 


BOOL 


296 1.4 EN - 08/2006 L

Parameters 

Function 



L_TbPIController - PI controller with limitation 


C04090 0.0000 214748.3647 Controller gain 

• Setting 0.0000 resets the PI 

controller. 


C04091 0.001 s 1000.000 Controller reset time 

• Setting 1000.000 resets the PI 

controller. 


C04095 0.00 % 200.00 Positive output limit value 


C04096 -200.00 % 0.00 Negative output limit value 

• Initialisation: -200.00 % 

The FB contains the calculation of the system deviation and the PI controller. 

� The dynamics of the controller is parameterised according to the gain Vp (C04090) and 

the reset time Tn (C04091): 

[4-1] Step response of the controller 

2V 

dnOut 

P 

VP 

� By setting bReset to TRUE the controller is reset (P and I component). 

� The I component of the controller can be set via the inputs bLoadIntValue and 

dnIntValue. 

– This function is also active when the controller is reset via the input bReset, i.e. the 

integral action component is loaded while a zero is output to the output. This 

provides the opportunity to reset the controller with a signal and simultaneously 

initialise the integral action component for the following enable: 

� The correcting variable of the controller is automatically limited to the range ±231-1 (±200 %). 

– If a small setting range is required, the positive and negative output limit value can 

be set individually via C04095 and C04096. 

– When the controller reaches the output limitation, the P component has priority over 

the I component. 

L 1.4 EN - 08/2006 297 

T n 

t



L_TbPT1Filter - Delay 

4.136 L_TbPT1Filter - Delay 




This FB filters and delays analog signals. 

� The filter time constant T is set via the parameter C04040. 

� The gain is fixed at V = 1. 

� The function corresponds to the function "PT1" of the 9300 servo inverter. 

Inputs 


dnIn 

Input signal 

DINT 

Outputs 


dnOut 

Output signal 

DINT 

Parameters 

dnIn 

L_TbPT1Filter 


C04040 0.001 s 60.000 Filter time constant 

• With the setting 0.001 s the filter 

is not active. 


298 1.4 EN - 08/2006 L 

dnOut

Function 

V=1 

[4-1] Filter time constant T of the first-order delay element 

T 



L_TbPT1Filter - Delay 

L 1.4 EN - 08/2006 299 

t



L_TbRateAction - Rate action with limitation 

4.137 L_TbRateAction - Rate action with limitation 




This FB contains a rate action function to compensate disturbing low passes. 

� Therefore the rate time constant must be adjusted to the filter time constant of the low 

pass via the parameter C04055. 


Inputs 


dnIn 

Input signal 

DINT 

Outputs 


dnOut 

Output signal 


bLimitActive 


BOOL 


Parameters 

dnIn 

L_TbRateAction 

dnOut 

bLimitActive 


C04055 0.000 s 60.000 Rate time constant TV • Initialisation: 0.001 s 

300 1.4 EN - 08/2006 L

Function 



L_TbRateAction - Rate action with limitation 

The input signal is differentiated by means of the parameterised rate time constant TV and 

added to the input signal. 

� The differentiation of the input signal can be switched off when the rate time constant 

TV is set to "0.000 s". In this case the differential component is zero and the input signal 

output unchanged to the output. 

� When the rate time constant TV is greater than "0.000 s" the following step response is 

the result: 

C04055: Rate time constant T V 

1+ T V 

T Cycle 

dnOut 

[4-1] Step response when the rate time constant > 0 s 

1 

L 1.4 EN - 08/2006 301 

T Cycle 

t



L_TbSampleHold - Sample & Hold 

4.138 L_TbSampleHold - Sample & Hold 




This FB can save a signal. 

� The stored value is also available after mains disconnection. 

Inputs 


dnIn 

Input signal 

DINT 

bLoad 

Saving of input signal 

BOOL 

FALSE The value valid last at dnIn is stored and output to dnOut. A signal 

change at dnIn does not change dnOut. 

TRUE dnIn is output at the output dnOut. 

Outputs 

dnIn 

bLoad 


dnOut 

Output signal 

DINT 

Behaviour when switching the mains 

L_TbSampleHold 

The value loaded last is stored permanently when the supply voltage is switched off and 

reloaded after the mains is switched on again. 

� In order that the stored value is not immediately overwritten by the current input 

signal at dnIn after switching on the mains again, bLoad must be set to FALSE when the 

mains is switched on again. 

302 1.4 EN - 08/2006 L 

S&H 

dnOut

4.139 L_TbSelect - Switch-over 





L_TbSelect - Switch-over 


This function block switches between two signals. The switch-over is controlled via a 

boolean input signal. 

� So it is, for example, possible to switch between an initial diameter and a calculated 

diameter during winding. 

Inputs 


dnIn1 


DINT 

dnIn2 


DINT 

bSelectIn2 

Selection of the input signal for the output to dnOut 

BOOL 

FALSE dnIn1 

TRUE dnIn2 

Outputs 

dnIn1 

dnIn2 

bSelectIn2 


dnOut 

Output signal 

DINT 

L_TbSelect 

L 1.4 EN - 08/2006 303 

0 

1 

dnOut



L_TbSub - Subtraction 

4.140 L_TbSub - Subtraction 




This FB carries out a subtraction without limitation. 

Inputs 


dnIn1 

Minuend 

DINT 

dnIn2 

Subtrahend 

DINT 

Outputs 

L_TbSub 

dnIn1 

dnIn2 a-b 


dnOut 

Differential value (result of the subtraction) 

DINT • No internal limitation, thus an overflow is possible: 

–If the result > 231-1: dnOut = dnIn1 - dnIn2 - 232 –If the result < 231 : dnOut = dnIn1 - dnIn2 + 232 304 1.4 EN - 08/2006 L 

dnOut

4.141 L_TbSubLim - Subtraction with limitation 


This FB carries out a subtraction with limitation. 


Inputs 

Outputs 



L_TbSubLim - Subtraction with limitation 



L_TbSubLim 

dnIn1 

dnIn2 a-b 


dnIn1 

Minuend 

DINT 

dnIn2 

Subtrahend 

DINT 

dnOut 

bLimitActive 


dnOut 

Differential value (result of the subtraction) 


bLimitActive 


BOOL 


L 1.4 EN - 08/2006 305



L_TbTransition - Edge evaluation 

4.142 L_TbTransition - Edge evaluation 




This FB serves to evaluate digital signal edges and converts them into time-defined and 

retriggerable pulses. 

� This function corresponds to the function "TRANS" of the 9300 servo inverter. 

Inputs 


bin 

Input for edge evaluation 

BOOL • Function depends on the selection of the trigger edge in C04000. 

Outputs 


bOut 

Output (retriggerable) 

BOOL 

Parameters 


C04000 Trigger edge 

0 Rising edge Lenze setting 

1 Falling edge 

2 Both edges 

C04001 0.001 s 60.000 Pulse duration 


� Note! 

bIn 

L_TbTransition 

0 t 

When the task interval time is set to >1 ms and the pulse duration set in C04001 

is not an integer multiple of the interval time, the pulse duration is 

automatically extended to the next integer multiple of the interval time. 

306 1.4 EN - 08/2006 L 

bOut

4.142.1 Function 1: Evaluating rising edges 

C04000 = "0" 

[4-1] Switching performance when evaluating rising edges 





1. A FALSE-TRUE edge at the input bIn sets the output bOut to TRUE. 

2. After the time specified via C04001 the output bOut is reset to FALSE provided that no 

other FALSE/TRUE edge has taken place at the output bIn in the meantime. 

– If another FALSE/TRUE edge takes place at the bIn input, the time C04001 restarts to 

elapse, i.e. the output bOut is retriggerable. 

4.142.2 Function 2: Evaluating falling edges 

C04000 = "1" 

[4-2] Switching performance when evaluating falling edges 


bIn 

TRUE 

FALSE 

bOut 

TRUE 

FALSE 

bIn 

TRUE 

FALSE 

bOut 

TRUE 

FALSE 

C04001 C04001 C04001 

C04001 C04001 C04001 

1. A TRUE-FALSE edge at the input bIn sets the output bOut to TRUE. 


other TRUE/FALSE edge has taken place at the bIn input in the meantime. 

– If another TRUE/FALSE edge takes place at the bIn input, the time C04001 restarts to 


L 1.4 EN - 08/2006 307 

t 

t 

t 

t




4.142.3 Function 3: Evaluating rising and falling edges 

C04000 = "2" 

[4-3] Switching performance when evaluating rising and falling edges 


bIn 

TRUE 

FALSE 

bOut 

TRUE 

FALSE 

C04001 C04001 C04001 

1. A signal change (FALSE-TRUE or TRUE-FALSE edge) at the input bIn sets the output bOut 

to TRUE. 


other signal change has taken place at the bIn input in the meantime. 

– If another signal change takes place at the bIn input, the time C04001 restarts to 


308 1.4 EN - 08/2006 L 

t 

t

4.143 L_TbXor - XOR with 2 inputs 



This FB carries out a logic EXCLUSIVE OR operation of binary signals. 

Inputs 

Outputs 

Function 



L_TbXor - XOR with 2 inputs 


L_TbXor 

bIn1 

bIn2 =1 


bIn1 

Input 1 

BOOL 

bIn2 

Input 2 

BOOL 


bOut 

Result of the exclusive OR operation 

BOOL 






L 1.4 EN - 08/2006 309 

bOut


Index 

5 Index 

Numbers 

1-from-8-selector 244 

A 

Absolute value 245 

Acceleration table 153 

Addition 246, 247 

AND with five inputs 239 

AND with two inputs 248 

Application notes 11 

B 

Bit combination 52, 53, 54 

Bit demultiplexer 48, 57, 79 

Bit multiplexer 44, 45, 47 

Bit operation 61, 62, 63, 69, 70, 71, 72, 73, 74 

C 

C4000 306 

C4001 306 

C4005 260 

C4010 270 

C4011 270 

C4020 294 

C4021 294 

C4030 280 

C4035 291 

C4040 298 

C4050 273 

C4055 300 

C4060 268 

C4061 268 

C4065 266 

C4070 284 

C4071 284 

C4080 254 

C4081 254 

C4082 254 

C4085 249 

C4090 297 

C4091 297 

C4095 297 

C4096 297 

C4100 261 

C4101 261 

C4102 261 

C4190 43 

C4200 227 

C4201 227 

C4202 227 

C4203 227 

C4204 227 

C4207 227 

C4208 227 

C4212 227 

C4213 227 

C4214 227 

C4215 227 

C4220 227 

C4221 227 

C4222 227 

C4223 227 

C4224 227 

C4225 227 

C4226 228 

C4227 228 

C4228 228 

C4229 228 

C4237 228 

C4238 228 

C4239 228 

C4240 217 

C4241 217 

C4242 217 

C4243 217 

C4244 217 

C4245 218 

C4248 218 

C4249 218 

C4251 218 

C4258 218 

C4259 218 

C4271 207 

C4273 207 

C4276 221 

C4278 221 

C4281 208 

C4283 208 

C4286 222 

C4288 222 

C4290 223 

C4291 223 

C4294 224 

C4295 224 

C4299 224 

C4300 211 

C4301 211 

C4303 211 

C4304 211 

C4305 211 

C4310 237 

C4312 212 

310 1.4 EN - 08/2006 L

C4314 238 

C4316 232 

C4320 204 

C4340 214 

C4349 214 

C4400 234 

C4402 234 

C4403 234 

C4404 234 

C4500 188 

C4501 188 

C4502 188 

C4503 188 

C4504 188 

C4505 188 

C4510 193 

C4511 193 

C4512 193 

C4513 193 

C4514 193 

C4515 193 

C4516 193 

C4520 194 

C4521 194 

C4522 194 

C4523 194 

C4530 195 

C4531 195 

C4532 195 

C4540 197 

C4541 197 

C4542 197 

C4543 197 

C4544 197 

C4545 197 

C4546 197 

C4547 197 

C4548 197 

C4549 197 

C4550 197 

C4551 197 

C4552 197 

C4553 197 

C4554 197 

C4555 197 

C4556 197 

C4557 197 

C4558 197 

C4559 197 

C4570 199 

C4571 199 

C4572 199 

C4573 199 

C4580 200 

C4581 200 

C4582 200 

C4590 201 

C4591 201 

C4592 201 

C4593 201 

C4594 201 

C4600 202 

C4601 202 

C4602 202 

C4700 160 

C4701 161 

C4702 161 

C4703 161 

C4705 161 

C4706 161 

C4707 162 

C4708 162 

C4710 162 

C4711 162 

C4712 162 

C4713 162 

C4714 163 

C4715 163 

C4716 163 

C4717 163 

C4718 163 

C4719 163 

C4720 163 

C4721 164 

C4750 174 

C4751 174 

C4752 175 

C4753 175 

C4754 175 

C4755 175 

C4756 175 

C4757 175 

C4758 175 

C4760 175 

C4761 176 

C4763 176 

C4764 176 

C4765 176 

C5000 107 

C5007 107 

C5008 107 

C5009 107 

C5010 139 

C5011 139 

C5012 139 

C5013 139 


Index 

L 1.4 EN - 08/2006 311


Index 

C5014 139 

C5015 139 

C5025 139 

C5026 139 

C5027 140 

C5028 140 

C5034 126 

C5036 126 

C5041 127 

C5042 127 

C5043 127 

C5048 127 

C5049 127 

C5050 122 

C5051 122 

C5053 122 

C5056 123 

C5065 123 

C5067 123 

C5069 123 

C5070 98 

C5074 98 

C5076 98 

C5077 98 

C5078 98 

C5079 98 

C5080 100 

C5083 100 

C5085 100 

C5087 100 

C5088 101 

C5089 101 

C5090 132 

C5091 132 

C5092 132 

C5093 132 

C5094 132 

C5095 132 

C5096 132 

C5097 132 

C5098 133 

C5099 133 

C5100 143 

C5103 143 

C5104 144 

C5105 144 

C5114 144 

C5117 144 

C5118 144 

C5122 120 

C5123 120 

C5124 120 

C5125 120 

C5126 120 

C5127 120 

C5142 136 

C5147 136 

C5148 136 

C5149 136 

C5150 136 

C5151 136 

C5152 136 

C5153 136 

C5154 136 

C5155 136 

C5160 103 

C5161 103 

C5162 103 

C5163 103 

C5165 103 

C5169 103 

C5175 118 

C5178 118 

C5179 118 

C5181 113 

C5183 113 

C5184 113 

C5186 113 

C5187 114 

C5188 114 

C5189 114 

C5900 84 

C5901 84 

C5902 84 

Cam 233 

Cams 233 

Characteristic function 261 

Comparison 249, 254 

Conventions used 10 

Conventions used for variable identifiers 14 

Copyright 2 

Copyright information 2 

312 1.4 EN - 08/2006 L 

D 

Data type conversion 40, 41, 42, 55, 56, 78 

Data type entry 14 

Dead band with gain 266 

Dead band with gain (scaled) 268 

Dead time compensation 204 

Deceleration 270, 298 

Differentiation 205 

Differentiation (cyclic) 105 

Differentiator with low-pass filter 273 

Division 275, 276

E 

Edge evaluation 306 

E-mail to Lenze 316 

Error tripping 83 

Extrapolation 106 

F 

Feedback to Lenze 316 

Flipflop 277 

Following error monitoring 117 

Function block 12 

Function library 12 

G 

Gain 280 

General delay 272 

I 

Imprint 2 

Integration 110, 209, 282 

L 

L_Dc2BytesToWord 40 

L_Dc2WordsToDWord 41 

L_Dc4BytesToDWord 42 

L_DcBitShift 43 

L_DcBitsToByte 44 

L_DcBitsToDWord 45 

L_DcBitsToWord 47 

L_DcByteToBits 48 

L_DcByteToWord 49 

L_DcDIntToDWord 50 

L_DcDIntToInt 51 

L_DcDWordBitand 52 

L_DcDWordBitor 53 

L_DcDWordBitxor 54 

L_DcDWordTo2Words 55 

L_DcDWordTo4Bytes 56 

L_DcDWordToBits 57 

L_DcDWordToDInt 59 

L_DcDWordToWord 60 

L_DcGetBitOfByte 61 

L_DcGetBitOfDWord 62 

L_DcGetBitOfWord 63 

L_DcIntToDInt 64 

L_DcIntToWord 65 

L_DcNorm_aToNorm_n 66 

L_DcNorm_nToNorm_a 67 

L_DcNorm_nToSpeed_s 68 

L_DcResetBitOfByte 69 

L_DcResetBitOfDWord 70 

L_DcResetBitOfWord 71 

L_DcSetBitOfByte 72 


Index 

L_DcSetBitOfDWord 73 

L_DcSetBitOfWord 74 

L_DcSpeed_sToNorm_n 75 

L_DcSpeed_sToSpeed_v 76 

L_DcSpeed_vToSpeed_s 77 

L_DcWordTo2Bytes 78 

L_DcWordToBits 79 

L_DcWordToByte 80 

L_DcWordToDWord 81 

L_DcWordToInt 82 

L_DevApplErr 83 

L_DevBrakeStateDecoder 85 

L_DevDriveInterfaceStateDecoder 87 

L_DevHomingStateDecoder 89 

L_DevLimiterStateDecoder 91 

L_DevManualJogStateDecoder 93 

L_LdAddOffsetCyclic 95 

L_LdClutchAxisP 96 

L_LdClutchV 99 

L_LdConvAxisV 102 

L_LdDifferentiateCyclic 105 

L_LdExtrapolate 106 

L_LdIntegrateCyclic 110 

L_LdLinearCoupling 112 

L_LdMarkSync 115 

L_LdMonitFollowError 117 

L_LdMPot 119 

L_LdPosCtrlLin 121 

L_LdSetAxisVelocity 124 

L_LdStateDecoder 128 

L_LdSyncOperation 131 

L_LdToolControl 134 

L_LdVirtualMasterP 137 

L_LdVirtualMasterV 142 

L_LdZeroDetect 146 

L_PosDecoderStatePositioner 147 

L_PosDecoderStateSequencer 149 

L_PosGetProfile 150 

L_PosGetProfileData 151 

L_PosGetTableAcc 153 

L_PosGetTableJerk 155 

L_PosGetTablePos 156 

L_PosGetTableSpeed 157 

L_PosPositionerTable 158 

L_PosProfileInterface 171 

L_PosProfileTable 173 

L_PosSequencer 182 

L_SdDelayComp 204 

L_SdDifferentiate 205 

L_SdFactor 206 

L_SdGetPosition 207 

L_SdGetSpeed 208 

L_SdIntegrate 209 

L 1.4 EN - 08/2006 313


Index 

L_SdLimitSpeed 210 

L_SdPosToUnit 212, 232 

L_SdRampGenerator 213 

L_SdRuntimeComp 216 

L_SdSetAxisData 217 

L_SdSetPosition 221 

L_SdSetSpeed 222 

L_SdSpeedFilter 223 

L_SdSpeedSet 225 

L_SdSwitchPoint 233 

L_SdTouchProbe 235 

L_SdUnitToPos 237 

L_SdUnitToSpeed 238 

L_Tb5And 239 

L_Tb5Nand 240 

L_Tb5Nor 241 

L_Tb5Or 242 

L_Tb5Xor 243 

L_Tb8Select 244 

L_TbAbs 245 

L_TbAdd 246 

L_TbAddLim 247 

L_TbAnd 248 

L_TbCompare 249 

L_TbCompare_n 254 

L_TbCount 259 

L_TbCurve 261 

L_TbDeadband 266 

L_TbDeadband_n 268 

L_TbDelay 270 

L_TbDifferentiate 273 

L_TbDiv 275 

L_TbDiv_n 276 

L_TbFlipFlopD 277 

L_TbFlipFlopRS 279 

L_TbGainLim 280 

L_TbIntegrate 282 

L_TbLimit 283 

L_TbLimit_n 284 

L_TbMul 285 

L_TbMul_n 286 

L_TbMulLim 287 

L_TbNand 288 

L_TbNeg 289 

L_TbNor 290 

L_TbNormalize 291 

L_TbNot 292 

L_TbOr 293 

L_TbOscillator 294 

L_TbPIController 296 

L_TbPT1Filter 298 

L_TbRateAction 300 

L_TbSampleHold 302 

L_TbSelect 303 

L_TbSub 304 

L_TbSubLim 305 

L_TbTransition 306 

L_TbXor 309 

Layout of the safety information 11 

Layout of the safety instructions 

11 

Liability 2 

Limit 283, 284 

314 1.4 EN - 08/2006 L 

M 

Machine parameters 217 

Mark synchronisation 115 

Master value adjustment 119 

Master value adjustment via position 121 

Master value connection 112, 131 

Master value processing 124 

Multiplication 285, 286, 287 

N 

NAND with five inputs 240 

NAND with two inputs 288 

Negation 289, 292 

NOR with five inputs 241 

NOR with two inputs 290 

O 

OFF-delay 272 

Offset addition 95 

ON-delay 271 

OR with five inputs 242 

OR with two inputs 293 

P 

PI controller 296 

Position conversion 207, 212, 221, 237 

Position table 156 

Profile data interface 171 

Profile data output 151 

Profile data record management 158, 173 

Profile data tables 150 

R 

Ramp function generator with S ramp 213 

Ramp generator 225 

Rate action 300 

Rectangular signal generator 294 

RS flipflop (status-controlled) 279 

Runtime compensation 216 

S 

Safety instructions 11 

Sample & Hold 302

Sequence control 182 

Setpoint conditioning 134 

Setpoint ramp generator 225 

Shift operation 43 

Signal converter 66, 67, 68, 75, 76, 77 

Signal scaling 291 

Signal type entry 15 

Speed conversion 208, 222, 232, 238 

Speed limitation 210 

Speed ratio 102 

Speed signal delay 223 

Speed table 157 

S-ramp time table 155 

Status signals (drive interface) 87 

Status signals (LineDrive-FBs) 128 

Status signals (LS_Brake) 85 

Status signals (LS_Homing) 89 

Status signals (LS_Limiter) 91 

Status signals (LS_ManualJog) 93 

Status signals (positioning) 147 

Status signals (sequence control) 149 

Stretching factor (electronic gearbox) 206 

Subtraction 304, 305 

Switching points 233 

Switch-over 303 

T 

Touch probe evaluation 235 

Type converter 49, 50, 51, 59, 60, 64, 65, 80, 81, 82 

U 

Up/downcounter 259 

V 

Virtual clutch (electronic gearbox) 99 

Virtual clutch (synchronism) 96 

Virtual master (electronic gearbox) 142 

Virtual master (synchronism) 137 

X 

XOR with five inputs 243 

XOR with two inputs 309 

Z 

Zero crossing detection 146 


Index 

L 1.4 EN - 08/2006 315

�� 

Your opinion is important to us 

These Instructions were created to the best of our knowledge 

and belief to give you the best possible support for handling 

our product. 

If you have suggestions for improvement, please e-mail us to: 

feedback-docu@Lenze.de 

Thank you for your support. 

Your Lenze documentation team 

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