Lenze CANopen Controller-based Automation - Manual (Page 91)

9 Commissioning of the CANopen Motion bus
9.14 Compiling the PLC program code
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Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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9.14 Compiling the PLC program code
In order to compile the PLC program code, select the menu command Build  Build, or press
function key .
• If errors occur during translation, they can be located and corrected on the basis of the »PLC
Designer« error messages.
Then re-translate the program code.
• If no errors have occurred during the compilation process, save the »PLC Designer« project in the
project folder.
9.15 Logging in on the Lenze Controller with the »PLC Designer«
Use the menu command Online  Login or + to log in on the Lenze Controller.
• For this, the PLC program must be error-free.
• With the log-in, the fieldbus configuration and the PLC program are loaded to the controller.
Any possibly available configuration and PLC program are overwritten.
9.16 Starting the PLC program
Before the start, the PLC program must be loaded to the Lenze Controller using the menu command
Online  Login.
Use the menu command Debug  Start or function key to start the PLC program.
9.17 Start parameters of the Servo Drives 9400 HighLine CiA 402
When the Lenze Controller is started, the following "start parameters" are automatically loaded to
the Servo Drives 9400 HighLine CiA 402:
Index:Subindex
[hex]
Name
0x5EEB:0x00 Signal source torque setpoint (C00275)
0x5B9E:0x00 Sync cycle time (C01121)
0x5B95:0x00 CAN SYNC application cycle (C01130)
0x60C0:0x01 Interpolation time unit
0x60C0:0x02 Interpolation time value
0x60C2:0x00 Selection of the interpolation submode