Lenze CANopen control technology - Manual (Page 86)

Control technology | CANopen communication manual
The function library LenzeCANdrive.lib
86
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DMS 4.2 EN 07/2011 TD17
11 The function library LenzeCANdrive.lib
The LenzeCANdrive.lib function library supports the SoftMotion control to control the
"Servo Drives 9400 HighLine CiA402" series and the "ECSxM" axis module.
Features
• RegulatorOn, DriveStart
• Error message and acknowledgement
• Reading and writing of SoftMotion and drive parameters:
– Access via index 0xaabb
hex
and subindex 0xcc
hex
with the length 0xdd
hex
in bytes
(only required for writing) or
– use of MC_Read/Write(Bool)Parameter with parameter number ddaabbcc
hex
or
– use of the function blocks LenzeECSReadParameter and LenzeECSWriteParameter to
directly access Lenze codes or
– use of the function blocks SMC_ReadCANParameter and SMC_WriteCANParameter
to address standard CAN objects via the index/subindex.
• Reading of drive parameters (as string) with LenzeECSReadString
• Any ratio factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
• Linear or rotary axes
• Control modes: position, velocity (9400), torque (9400)
– Use SMC_SetControllerMode to change the mode.
• Drive-internal homing
– ECSxM: Configure C3010, C0935, C0936
Note: During the homing mode, the current position is not indicated by the ECS
drive!
– Configure 9400: 6098
hex
, 6099
hex
, 609A
hex
• Latching: 1 channel (trigger number = 1), only ECSxM
• ECSxM: Depending on the settings in code C3175 the hardware limit switches are
monitored by the control (C3175 = 3) or the drive.
• Configuration from file is possible
• Configuration from dialogs in the PLC configuration is possible
• Supported sync generators (to be set in the PLC configuration, AxisGroup: PLC, 1st drive,
sync device)

Detailed information on the LenzeCANdrive.lib function library is provided in the
online help of the »PLC Designer« and the software manual »PLC Designer -
SoftMotion«.