Programming Manual 5 th Generation of STÖBER Inverters

5 th Generation of STÖBER Inverters PROGRAMMING V 5.5 06/2010 EN

Table of Contents i Table of Contents 1. Introduction... 1 2. Notes on Safety... 3 2.1 Software... 8 2.2 Presentation of notes on safety... 9 3. Programming with POSITool..... 10 3.1 Structure of a Configuration... 10 3.2 Editing a Configuration..... 13 3.2.1 Using and deleting blocks..... 15 3.2.2 Replacing blocks...... 17 3.3 Signal lines..... 19 3.4 Creating User Blocks..... 23 3.5 User Libraries..... 27 3.5.1 Editing User Libraries..... 27 3.5.2 Automatically Loading User Libraries..... 30 3.6 Program Execution..... 33 3.7 Diagnosis..... 35 3.7.1 Checking the Circuiting..... 35 3.7.2 Monitoring Signal Lines..... 36 3.7.3 Showing Signals in Scope..... 36 3.8 Indicate/Search Functions..... 39 4. Parameters... 42 4.1 Parameter list... 42 4.2 Defining Customer-Specific Parameters..... 44 4.3 Describing Customer-Specific Parameters..... 57 4.4 Integrating Parameters in the Configuration..... 59

Table of Contents i 5. Programming an Application... 61 5.1 Input and Output Signals... 63 5.2 Event Processing.... 65 5.3 State Machine...... 66 6. Appendix... 70 7. Glossary... 79

Table of Contents i - This page was purposely left blank -

Introdution 01 1 Introduction Axis management is integrated on the POSIDRIVE MDS 5000, POSIDRIVE FDS 5000 and POSIDYN SDS 5000 inverters. This offers the following operating modes: Single-axis operation: An axis configured with POSITool is used on a connected motor. This is possible with the MDS 5000, FDS 5000 and SDS 5000. Multiple-axis operation: Two, three and four axes configured with POSITool are used on a connected motor. The axes can be used sequentially like parameter records on the motor. This is possible with the MDS 5000, FDS 5000 and SDS 5000. POSISwitch multiple-axis operation: Up to 4 motors connected to POSISwitch are operated sequentially with up to 4 axes. This is possible with the MDS 5000 and SDS 5000. This option requires the following system structure. The inverter system is divided into two areas - the global area and the axis area. The global area contains the programming and parameterization related to the inverter. This includes device control, the setting of I/O components such as brake resistors and so on. In addition, it is responsible for managing the axis area. The axis area is divided into up to four axes. Each axis contains the programming and parameterization for one motor and is addressed by the global area. The axis area contains the motor setting and the application of the motor. The uses are defined by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG in so-called applications or, optionally, can be programmed as desired by the user. Global area X3 ESC I/O # Axis area Axis 1 Axis 2 Axis 3 Axis 4 1

Introdution 01 STÖBER ANTRIEBSTECHNIK Purpose of the manual This manual gives you information on programming the 5 th generation of STÖBER inverters with the software POSITool. The principal procedures are explained. The purpose of the manual is To familiarize you with the software POSITool. Support you when you draft a drive application. Explain the program components such as system blocks and parameters. Circle of readers Users who are familiar with the control of drive systems and have knowledge of PLC/CNC programming are the target group of this manual. Other manuals For further information, see the following manuals: Mounting instructions for mounting of the FDS 5000 (ID 441858) respectively for mounting of the MDS 5000 (ID 441688). Brief commissioning instructions (ID 441690) for a quick introduction to using the 5 th generation of STÖBER inverters. Application Manual (ID 441691) for a description of the applications which STÖBER ANTRIEBSTECHNIK has made available to you. Other support If you have questions about the use of the 5 th generation of STÖBER inverters and the POSITool software which are not answered by this manual, we will be glad to advise you under the telephone number 07231 582 0. To simplify getting started with our system, we offer courses. Contact our training center at the following address: STÖBER ANTRIEBSTECHNIK GmbH+Co. KG Kieselbronner Straße 12 75177 Pforzheim 2

Notes on Safety 02 2 Notes on Safety When in operation, inverters from STÖBER ANTRIEBSTECHNIK GmbH + Co. KG may have energized or rotating parts depending on their protection rating. Surfaces may heat up. For these reasons, comply with the following: The safety notes listed in the following sections and points The technical rules and regulations In addition, always read the mounting instructions and the short commissioning instructions. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for damages caused by non-adherence to the instructions or applicable regulations. Subject to technical changes to improve the devices without prior notice. This documentation is purely a product description. It does not represent promised properties in the sense of warranty law. Component part of the product The technical documentation is a component part of a product. Since the technical documentation contains important information, always keep it handy in the vicinity of the device until the machine is disposed of. If the product is sold, disposed of, or rented out, always include the technical documentation with the product. Operation in accordance with its intended use In the sense of DIN EN 50178 (previously VDE 0160), the POSIDRIVE FDS 5000 and MDS 5000 and the POSIDYN SDS 5000 model series represent the electrical equipment of power electronics for the control of power flow in high-voltage current systems. They are designed exclusively to power: Servo motors (MDS 5000, SDS 5000) Asynchronous motors (FDS 5000, MDS 5000 and SDS 5000) Operation for purposes other than the intended use include the connection of other electrical loads! Before the manufacturer is allowed to put a machine on the market, he must have a danger analysis prepared as per machine guideline 98/37/EG. This analysis establishes the dangers connected with the use of the machine. The danger analysis is a multi-stage, iterative process. Since this documentation cannot begin to provide sufficient insight into the machine guidelines, please carefully study the latest standards and legal situation yourself. After the drive controller has been installed in machines, it cannot be commissioned until it has been determined that the machine complies with the regulations of EG guideline 98/37/EG. 3

Notes on Safety 02 STÖBER ANTRIEBSTECHNIK Ambient conditions Model series POSIDRIVE FDS 5000 and MDS 5000 and POSIDYN SDS 5000 are products of the restricted sales class as described in IEC 61800-3. This product may cause high-frequency interference in residential zones and the user may be asked to take suitable measures. The inverters are not designed for use in public low-voltage networks which power residential areas. High-frequency interference must be expected when the inverters are used in such a network. The inverters are only intended for use in TN networks. The inverters are only designed for use on supply current networks which can delivery at the most a maximum of symmetrical rated short circuit current at 480 Volts as per the following table: Max. symmetrical rated short circuit Device family Size current FDS 5000, MDS 5000, SDS 5000 BG 0 and BG 1 5000 A MDS 5000 BG 2 5000 A SDS 5000 BG 3 10000 A Install the inverter in a switching cabinet in which the permissible maximum surrounding air temperature is not exceeded (see mounting instructions). The following applications are prohibited: Use in potentially explosive areas Use in environments with harmful substances as per EN 60721 (e.g., oils, acids, gases, fumes, powders, irradiation) Use with mechanical vibration and impact stresses which exceed the information in the technical data of the mounting instructions Implementation of the following applications is only permitted when STÖBER ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission: Use in non-stationary applications Qualified personnel Since the drive controllers of the model series POSIDRIVE FDS 5000, POSIDRIVE MDS 5000 and POSIDYN SDS 5000 may harbor residual risks, all configuration, transportation, installation and commissioning tasks including operation and disposal may only be performed by trained personnel who are aware of the possible risks. 4

Notes on Safety 02 STÖBER ANTRIEBSTECHNIK Personnel must have the qualifications required for the job. The following table lists examples of occupational qualifications for the jobs: Activity Possible occupational qualifications Transportation and storage Worker skilled in storage logistics or comparable training Configuration Graduate engineer (electrotechnology or electrical power technology) Technician (m/f) (electro-technology) Installation and connection Electronics technician (m/f) Commissioning (of a standard Technician (m/f) (electro-technology) application) Master electro technician (m/f) Programming Graduate engineer (electro-technology or electrical power technology) Operation Technician (m/f) (electro-technology) Master electro technician (m/f) Disposal Electronics technician (m/f) In addition, the valid regulations, the legal requirements, the reference books, this technical documentation and, in particular, the safety information contained therein must be carefully: read understood and complied with. Transportation and storage Immediately upon receipt, examine the delivery for any transportation damages. Immediately inform the transportation company of any damages. If damages are found, do not commission the product. If the device is not to be installed immediately, store it in a dry, dust-free room. Please see the mounting instructions for how to commission an inverter after it has been in storage for a year or longer. Installation and connection Installation and connection work are only permitted after the device has been isolated from the power! The accessory installation instructions allow the following actions during the installation of accessories: The housing of the MDS 5000, SDS 5000 and FDS 5000 in the upper slot can be opened. The housing of the MDS 5000 and SDS 5000 in the bottom slot can be opened. Opening the housing in another place or for other purposes is not permitted. 5

Notes on Safety 02 Use only copper lines. For the line cross sections to be used, see table 310-16 of the NEC standard for 60 o C or 75 o C. Protect the device from falling parts (pieces of wire, leads, metal parts, and so on) during installation or other tasks in the switching cabinet. Parts with conductive properties inside the inverter can cause short circuits or device failure. The motor must have an integrated temperature monitor with basic isolation in acc. with EN 61800-5-1 or external motor overload protection must be used. The permissible protection class is protective ground. Operation is not permitted unless the protective conductor is connected in accordance with the regulations. Comply with the applicable instructions for installation and commissioning of motor and brakes. Commissioning, operation and service Remove additional coverings before commissioning so that the device cannot overheat. During installation, provide the free spaces specified in the mounting instructions to prevent the inverter from overheating. The housing of the drive controller must be closed before you turn on the supply voltage. When the supply voltage is on, dangerous voltages can be present on the connection terminals and the cables and motor terminals connected to them. Remember that the device is not necessarily de-energized after all indicators have gone off. When network voltage is applied, the following are prohibited: Opening the housing Connecting or disconnecting the connection terminals Installing accessories Proceed as shown below to perform these tasks: 1. Disable the enable (X1). 2. Turn off the supply voltage (power pack and controller power supply as well as any auxiliary voltages for encoder, brake, etc.). 3. Protect the supply voltages from being turned on again. 4. Wait 5 minutes (time the DC link capacitors need to discharge). 5. Determine isolation from the voltage. 6. Short circuit the network input and ground it. 7. Cover the adjacent, voltage-carrying parts. You can then start your work on the drive controller. Repairs may only be performed by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. Send defective devices together with a fault description to: STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Abteilung VS-EL Kieselbronner Str. 12 75177 Pforzheim GERMANY 6

Notes on Safety 02 Disposal Please comply with the latest national and regional regulations! Dispose of the individual parts separately depending on their nature and currently valid regulations such as, for example: Electronic scrap (PCBs) Plastic Sheet metal Copper Aluminum Residual dangers The connected motor can be damaged with certain settings of drive controllers. Longer operation against an applied motor halting brake Longer operation of self-cooled motors at slow speeds Drives can reach dangerous excess speeds (e.g., setting of high output frequencies for motors and motor settings which are unsuitable for this). Secure the drive accordingly. 7

Notes on Safety 02 2.1 Software Using the POSITool software The POSITool software package can be used to select the application and adjust the parameters and signal monitoring of the 5th generation of STÖBER inverters. The functionality is specified by selecting an application and transmitting these data to an inverter. The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and is copyrighted. The program is licensed for the user. The software is only provided in machine-readable form. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG gives the customer a nonexclusive right to use the program (license) provided it has been legitimately obtained. The customer is authorized to use the program for the above activities and functions and to make copies of the program, including a backup copy for support of this use, and to install same. The conditions of this license apply to each copy. The customer promises to affix the copyright notation to each copy of the program and all other property notations. The customer is not authorized to use, copy, change or pass on/transmit the program for purposes other than those in these regulations. The customer is also not authorized to convert the program (i.e., reverse assembly, reverse compilation) or to compile it in any other way. The customer is also not authorized to issue sublicenses for the program, or to rent or lease it out. Product maintenance The obligation to maintain refers to the two latest program versions created by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and approved for use. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct program errors or will provide the customer with a new program version. This choice will be made by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual cases, the error cannot be immediately corrected, STÖBER ANTRIEBS- TECHNIK GmbH + Co. KG will provide an intermediate solution which may require the customer to comply with special operation regulations. A claim to error correction only exists when the reported errors are reproducible or can be indicated with machine-generated outputs. Errors must be reported in a reconstructable form and provide information which is useful to error correction. The obligation to correct errors ceases to exist for such programs which the customer changes or edits in any way unless the customer can prove that such action is not the cause of the reported error. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will keep the respective valid program versions in an especially safe place (fireproof data safe, bank deposit box). 8

Notes on Safety 02 2.2 Presentation of notes on safety NOTICE Notice means that property damage may occur if the stated precautionary measures are not taken. CAUTION Caution with warning triangle means that minor injury may occur if the stated precautionary measures are not taken. WARNING Warning means that there may be a serious danger of death if the stated precautionary measures are not taken. DANGER Danger means that serious danger of death exists if the stated precautionary measures are not taken. Information indicates important information about the product or a highlighted portion of the documentation which requires special attention. 9

Programming with POSITool 03 3 Programming with POSITool This section explains how to handle a configuration in POSITool. This includes information on how to set up and program a configuration. Prerequisites You must have attended programming classes at the STÖBER ANTRIEBS- TECHNIK Training Center before you can program a device of the 5 th generation of STÖBER inverters. After attending these classes you will receive a key file which will allow you to set configuration level 3. Configuration level 3 authorizes you to modify or add to an application. Level 3 is activated as shown below: Using the key file 1. Save the key file in the directory in which POSITool is installed. 2. Open POSITool. 3. In the "Extras" menu, select the menu item Change access level. 4. Set the configuration level to "3:Access level 3". You have just activated the "free, graphic programming" option. 3.1 Structure of a Configuration Configuration The configuration screen contains the programming interface. Blocks are entered here and linked when the "free, graphic programming" option is used. Applications defined by STÖBER ANTRIEBSTECHNIK GmbH+Co. KG provide the programming in a capsule block. Open a configuration screen by double-clicking "Configuration" in the project view. Remember that the global area and each axis area can be configured separately. 10

Programming with POSITool 03 Figure 3-1 Project view Figure 3-2 illustrates the structure of a POSITool configuration. Capsule block One level higher Configuration interface Configuration object Figure 3-2 Configuration structure Open First configuration level Second config. level 11

Programming with POSITool 03 One block can contain other blocks. Before the configuration structure within a block can be viewed, the block must be opened. There are three ways to do this. Opening a block Double-click the block or Click the block with the right mouse button and select "Open" in the context menu which appears or Highlight the block and open it with the button. The configuration structure of the block appears now. If you want to access a higher block level, there are two ways to accomplish this. Exiting a block Using the right mouse button, click a free area in the configuration interface. In the context menu which appears, select "One level higher. or Press the button. Either way, the higher-level block level will appear. A complete view of the programmed structure and the blocks used is provided with the hierarchy view (see Figure 3-3). Figure 3-3 Hierarchy structure of an application 12

Programming with POSITool 03 3.2 Editing a Configuration The configuration interface must first be set to editing mode before you can edit a configuration. Activating edit mode Using the right mouse button, click a free area in the configuration interface. In the context menu which appears, select "Edit". or Press the button. A grid appears over the configuration interface. You can only program (e.g., add, delete and wire blocks) when edit mode is active. If you are unable to activate edit mode, check the following points: 1. Check to determine whether the configuration level is set to "3:Access level 3" in the menu "Extras / Change access level ".. 2. Check to determine whether you have activated edit mode from the highest or second highest level. 3. Make sure that POSITool is not in online mode. 4. Check to determine whether you have opened a reverse documentation. You can tell a reverse documentation by the corresponding entry in the inverter view (see Figure 3-4). If the documentation you want to edit is a reverse documentation, convert the file into a configuration in the menu "File / Manage inverters ". 13

Programming with POSITool 03 Figure 3-4 Reverse documentation of a project The blocks are available in libraries. Libraries are called in the administrative area with the "Library" tab. Figure 3-5 shows the libraries in the higher area and the blocks of the library "Integer" below. In the standard version the blocks are sorted by name. Using the right mouse button, click the lower area so that the context menu appears in which you can select sorting by block number or hide the block number. STÖBER ANTRIEBSTECHNIK offers you the following libraries: Arithmetic with blocks for integer arithmetic Binary signal conditioning (e.g., Boolean operations, end-of-edge detectors, counters and timers) Motion technology (i.e., PLCopen blocks and blocks for positioning) Parameter to use an existing parameter in the configuration Control technology Selection and conversion with scaling blocks, type converters and multiplexers System for programming events Driver with blocks for wiring signals of the input and output interfaces Inverter1 contains user-defined blocks. Please remember that the designation "Inverter1" may differ from your entry in the "Label" field on page 1 of the Configuration Assistant. Organization blocks with blocks for integrating inputs and outputs, constants and plain text For an overview of the available blocks, see the block manual, ID 441692). 14

Programming with POSITool 03 Figure 3-5 Block libraries 3.2.1 Using and deleting blocks Proceed as shown below to use a block in the configuration. Using a block 5. Activate edit mode in the configuration interface. 6. Select a block from the libraries. 7. Click the block with the left mouse button and keep the button pressed. 8. Drag the mouse pointer to the configuration interface and drop it by releasing the left mouse button (Drag and Drop). The block now appears in the configuration interface. The use of a block is called instancing. Figure 3-6 shows block 36. 15

Programming with POSITool 03 Figure 3-6 View of a block The left side of the block contains the connections for the input signals. The right side of the block contains the connections of the output signals. The designation and data type of the signal are shown on the connections. Table 1 lists the data types. Name Abbreviati on Description Value Range Boolean B 1 bit (shown internally as 1 byte) 0... 1 Unsigned 8 U8 1 byte, without sign 0... 255 Integer 8 I8 1 byte, with sign -128... 127 Unsigned 16 U16 2 bytes 1 word, without sign 0... 65535 Integer 16 I16 2 bytes 1 word, with sign -32768... 32767 Unsigned 32 U32 4 bytes 1 double word, without sign 0... 4294967295 Integer 32 I32 4 bytes 1 double word, with sign Float R32 Floating point, simple accuracy Double R64 Floating point, double accuracy String 8 STR8 Text, 8 characters String 16 STR16 Text, 16 characters Posi 64 P64 Table 1 Data types -2147483648... 2147483647 As per ANSI / IEEE 754 32 bits, increments -2147483648... 32 bits, remainder 0... 2147483647 Number and designation of the block are shown above the block. A block can be located by its number in the block manual, for example. Blocks with a number up to 49999 are called system blocks. They cannot be opened. Blocks with numbers greater than 100000 are standard blocks. They contain additional blocks. You can open some of the standard blocks but never edit them. 16

Programming with POSITool 03 The instance number is located to the left below the block and the position within the runtime sequence is located to the right. The instance number specifies the sequence in which the blocks were instanced on a configuration level. The runtime sequence is explained in chapter 3.7. Information You can change the view of a block. This includes, for instance, the indication of the block number, the instance number or the presentation of the connections. You can make such changes in the menu "Extras / Options " after selecting the configuration editor. 3.2.2 Replacing blocks To replace a block, proceed as follows: Replace block 1. Activate Bearbeitungsmodus (Edit mode) in the configuration user interface. 2. click the block with the right mouse button. 3. Select "Replace block " in the context menu. The following dialog appears: Figure 3-7 Replacing blocks 17

Programming with POSITool 03 In the selection list set the library in which the new block is stored ( ). In the list which is shown below this select the block ( ) and confirm the dialog with the "OK" button. The previously existing block is deleted and the new block appears in the configuration user interface. If the new block uses the same interface as the one which was replaced, all signal lines are taken over. If this is not the case, the signal lines which were connected to the replaced block are deleted. Commentaries on the configuration You can add commentary to the interface to document a configuration. Instance from the organization block library the block 8 000 005 for one-line commentaries or the block 8 000 010 for multiple-line commentaries. The block appears as a square on the interface (see for example block 8 000 005 in Figure 3-8). Double-click the block to edit the text. Figure 3-8 Commentary in the configuration Undo function To undo an action performed in the configuration user interface, select the menu item "Undo" in the edit menu. Remember that the function can only be executed at the current level. When you change the hierarchy level, the list of actions is reset. In addition, you cannot restore the parameter value after deleting a parameter with the undo function. Navigation window Activate the navigation window for an overview and for a description of how to navigate a complex configuration. Proceed as shown below: 18

Programming with POSITool 03 Activating the navigation window 1. Click the configuration interface with the right mouse button and select "Navigation window in the context menu which appears. 2. Press the button. The navigation window then appears at the bottom right on the configuration interface. For orientation, the window shows the blocks and their relationships to each other. The area which is visible on the current configuration interface appears as a square. If you click the area enclosed in the square with the left mouse button and keep the mouse button pressed, you can move the square and thus change the visible portion of the configuration. 3.3 Signal lines To create a program sequence, signals for further processing are connected with other blocks via signal lines. Before a signal line can be created between two connections, the connections must have the same data type (e.g., integer, floating point or string) and the same data length (e.g., 1 byte). For instance, a connection can be established between U16 and I16 connections, but not between U8 and U16 or I8 and string8. In this connection, remember that since the data type Boolean has an internal length of 1 byte, a Boolean signal can be connected with U8 and I8 connections and vice versa. The data type of the input (i.e., the value is interpreted with a sign for connection of a U16 signal to an I16 input) applies to the evaluation in the block. Remember that the input value is evaluated as follows for connection of an I8 or U8 signal to a Boolean input. If the input value is zero, the Boolean signal is evaluated as zero. If the input value is not zero, the Boolean signal is evaluated as 1. Connections of the available data types (integer, floating point, string and Posi) are presented in their default settings with different colors. You can change the color settings in the menu "Extras / Options " on the "Configuration editor" page. To create a signal line, proceed as shown below. 19

Programming with POSITool 03 Creating a signal line 1. Activate edit mode on the configuration interface. 2. Position the mouse cursor on a block output so that crosshairs appear instead of the pointer. 3. Press the left mouse button and keep it pressed. 4. Move the crosshairs to a block input and release the mouse button. A signal line now appears between the connections. When a signal line must be drawn to a block which is not located on the current section of the screen or when a signal line must be drawn to several inputs, the connection can be established with the context menu: Creating a signal line with the context menu 1. Activate edit mode in the configuration interface. 2. Using the right mouse button, click one of the connections that you want to connect. 3. In the context menu which appears, select "als Ursprung einer Signallinie setzen" (set as source of line). 4. Using the right mouse button, click the second connection. 5. In the context menu which appears, select "connect to block name, connection name, signal marking. (The signal marking is explained in Figure 3-9) A direct connection line is drawn. If the line passes through a block, the program does not draw a line and the connections are marked as shown below instead: The letter S stands for signal. Figure 3-9 Marking a connection S15.1 The first number stands for the instance number of the outgoing block which is shown to the left below the block. Here: Instance no. 15 The second number stands for the number of the output on the outgoing block. Here: Connection no. 1 20

Programming with POSITool 03 The following rules apply to programming with POSITool: 1. Each input can only be connected once. 2. An output can be connected to several inputs. For correct wiring, every block input must be connected. An output must not be connected. If the signal line does not appear, check the following points: 1. Check to see whether you tried to establish a connection between incompatible data types. 2. Check to see whether the connections were marked as shown in Figure 3-9. In this case the signal line exists but it cannot be shown since it leads over a block. 3. Check to see whether you tried to draw a signal line from input to input or from output to output. Such connections are not possible. 4. Try again and be careful not to release the left mouse button before the crosshairs are located over the block input. To delete a signal line, proceed as shown below. Deleting a signal line 1. Activate edit mode in the configuration interface. 2. Position the mouse cursor on a wired block input so that crosshairs appear instead of the pointer. 3. Press the left mouse button and keep the button pressed. 4. Move the crosshairs to a free area of the configuration interface and release the mouse button. The signal line is deleted now. The signal line is deleted. A signal line can also be deleted via the context menu. Using the right mouse button, click the signal line and select "delete connection" in the context menu which appears. Following the signal lines To follow the wiring of a signal from connection to connection, click a connection with the right mouse button and select "trace connection" in the context menu which appears. If the signal line was wired to several connections, the context menu lets you select one of the lines or all of the lines. Based on your selection, the signal lines are now highlighted in red. 21

Programming with POSITool 03 Monitoring the signals You can also monitor signal lines during online operation. Using the right mouse button, click the source of the signal (block output) and select "Monitor" in the context menu which appears. The dialog box in Figure 3-10 appears. Set the scaling with which the signal is to be indicated. In our example, global parameter E101 I-Motor was selected. With this setting the digital value of the signal is shown as a percentage in relation to the nominal device speed. If you confirm the dialog box, an indicator box appears at the source of the signal in the configuration interface. During online operation, the current value of the signal is shown scaled and unscaled (enclosed in parentheses). During offline operation, the field has the entry "Offline." Figure 3-10 Setting the scaling for signal indication Retentive signals If you want a signal to be retentive, click the source of the signal (block output) using the right mouse button. Select "Properties" in the context menu which appears, and then place a checkmark in the "Retentive signal" checkbox (see Figure 3-11). When you close the dialog, the connection is highlighted with a thicker line. Remember that this highlighting only appears at the level at which you made the signal retentive. Retentive signals are saved by the controller every 256 ms. A total of 256 bytes of retentive signals can be stored in this memory. Please note that the application sometimes uses retentive signals and, in such cases, all 256 bytes may not be able to be used. 22

Programming with POSITool 03 Default value of a signal In this dialog you can also specify an default value (see Figure 3-11). The default value takes effect for non-retentive signals each time the configuration starts up. With retentive signals the initial value only takes effect during the first startup of the configuration (after the transfer to the inverter). The non-volatilely stored value is used for all other startups. Figure 3-11 Properties of a signal 3.4 Creating User Blocks You can create your own blocks to combine functions and use them again. To create a new block, proceed as shown below. Creating user block 1. Activate edit mode in the configuration interface. 2. Using the right mouse button, click a free area in the configuration interface. 3. Select "New block" in the context menu which appears. A new block appears in the configuration interface. The block has no inputs or outputs and no functionality. To program the block it must be open and a program sequence must be entered at the indicated configuration level. 23

Programming with POSITool 03 Properties of a block When you click a block with the right mouse button or click on the block at the configuration level, you can open the properties dialog screen of the block (Figure 3-12) in the context menu which appears. Figure 3-12 Properties of a block The dialog screen shows the number of the block. When the configuration interface is in edit mode, you can also change the properties of the block. This includes: Entry of a block name, Setting of the read and write level, Definition of the inputs and outputs Definition of parameters (see chapter 4). To define a new connection, press the "New" button in the section on connections. The following dialog box appears. Figure 3-13 Definition of a connection 24

Programming with POSITool 03 Enter the name in this dialog box and define the connection and data type. When you confirm the dialog box, the connection appears in the properties dialog box of the block. A parameter is defined in the same way. See chap. 4.5 for more information. Block enable When you create a block, a block enable input is automatically generated but it does not appear on the screen at first. You can activate the display of the input by clicking with the right mouse button on the block and selecting "Show block enable" in the context menu which appears. The block is then shown with the input (see Figure 3-14). Figure 3-14 Indication of a block with enable input When the enable input is indicated, you can disable and enable the calculation of the block. When an active signal is determined on the input, the block is calculated. When an inactive signal is found, the block is skipped when the program is executed. If you have deactivated indication of the enable input, the block is always calculated. A block created by you is automatically included in the "Inverter1" library (see Figure 3-15) and saved with the project. Please remember that the name of this library may differ depending on what you entered on page 1 of the Configuration Assistant. Figure 3-15 Bibliothek Umrichter1 25

Programming with POSITool 03 Copying blocks You can copy the function of a standard block and create user blocks (standard block: number > 100000). Click the block with the right mouse button and select "Create copy of block in the context menu. The following dialog appears. Figure 3-16 Copying blocks The top line shows the number and the designation of the original block ( ). The bottom line shows the number of the copy. You can enter your own designation in the input field ( ). After you confirm the dialog with the OK button, the new block is entered in the library Inverter1. At the same time, intermediate storage is prepared so that you can immediately insert your block in the configuration user interface with the menu item "Paste" in the edit menu. Write protection Write protection of the block is activated each time the library in which you manage a block created by you is loaded. A write-protected block can be used in the configuration but not changed. Remember that the library is also loaded when youagain open a project in which you have used the block. You deactivate write protection by clicking with the right mouse button on the block in the configuration interface or by clicking the block library. The third way is to click the opened block in the configuration interface. In the context menu which appears select "Read only". You can then edit the block. 26

Programming with POSITool 03 3.5 User Libraries The user blocks which you created are automatically inserted in the library Inverter1. To be able to use the blocks in other projects, transfer the blocks to separate user libraries. You can load the user libraries to other projects. Information Please note that every inverter has a library in which the blocks created by you are automatically inserted. Remember, however, that this library always uses the designation of the inverter that you enter in the configuration assistant and is not always called Inverter1. For example, the library of the main-axis inverters is also designated as main-axis. In this section, the designation Inverter1 is used for this library to differentiate it unambiguously from the user libraries. 3.5.1 Editing User Libraries POSITool allows you to, Insert blocks in the user library Inverter1 and to delete blocks To create your own user libraries like MyLib, archive blocks there and load blocks to other projects. Information Remember that user libraries like MyLib can be loaded simultaneously to different projects. You can change these libraries in the project in which they were first loaded. A current, write-protected copy is opened for each additional project. The write-protection of the blocks can also not be deactivated in a protected copy. You can access the block organization: In the menu "File / Block libraries " and In the context menu of the libraries under the entry "Block libraries ". When you call the organization, the "Block libraries " dialog appears: 27

Programming with POSITool 03 Figure 3-17 Block library dialog and list of the user libraries The top part of the dialog shows a list of the user libraries loaded to the project ( ). The list indicates The designation of the library, The total number of blocks contained in the library and The number of blocks being used in the current project. The buttons on the right side have the following functions: New library : When you press this button, the Save under dialog appears. Enter the directory under which the library is to be saved. Enter a designation for the new library and Confirm the dialog with the Save button. You have just created a new library. It is now indicated in the list of user libraries. Load library : When you press this button, the "Open" dialog appears. Select an already stored library and Confirm with the Open button. The library is loaded and then indicated in the list of user libraries. Close library: When you press this button, the library is closed. 28

Programming with POSITool 03 Save library: When you press this button, changes to the library are stored. A library was changed when At least one block was inserted, At least one block was deleted or At least one block was changed. Information Remember that you cannot execute the Close library and Save library functions in the user library Inverter1. Inverter1 is automatically saved when the project is saved. The bottom part of the Block libraries dialog is where you can transfer blocks back and forth between the libraries (Figure 3-18). Figure 3-18 User blocks dialog - transferring the blocks If you want to transfer blocks, go first to the selection lists and set the libraries between which the transfer is to take place ( ). The user libraries Inverter1 and MyLib have been selected in Figure 3-18. The lists of the selection lists show the blocks which are contained in the libraries ( ). In our example the Inverter1 library contains four blocks. MyLib has no blocks. To execute the transfer, click the block and press one of the buttons between the lists ( ). If you press Move, the block is moved to the target library and deleted from the originating library. The block retains its number and its designation. 29

Programming with POSITool 03 If you press Copy, a copy of the block is moved to the target library. POSITOOL displays the following dialog screen: Figure 3-19 Copying a block The top portion shows the block number and the designation of the block in the source library. The bottom portion shows the new number. You can change the designation of the block in the input field. If you confirm the dialog screen with OK, the block appears in the target library. You can delete blocks from the particular library by pressing the Delete block button below the lists in Figure 3-18 ( ). You can use the Select button to select either the blocks which are used in the project or the blocks which are not used. Information Remember that you can only use the organization block and standard block libraries to copy blocks to other libraries. These libraries cannot be used to: - Delete blocks or - Change the library with the Move buttons. 3.5.2 Automatically Loading User Libraries User libraries like MyOwnLib are not automatically loaded when a project is opened. If you want to use blocks from these libraries in your project, there are two ways to do this: Transfer the applicable blocks to the library Inverter1. Activate the automatic loading of the user libraries. The directories must be specified under which the libraries are stored. To activate the automatic loading of user libraries, you can specify the directories under either of the following settings: For POSITool or for the project. 30

Programming with POSITool 03 Specifying directories under the POSITool options If you specify the directories under the POSITool options, you can use the libraries in all projects. Enter the user libraries in the menu Extras / Options on the page called Directories: Figure 3-20 Directories for user libraries under the settings of POSITool The list shows the directories which have already been selected. The buttons on the right have the following functions: + : Use this button to select directories. The following dialog box appears when you click this button: Figure 3-21 Selecting directories for user libraries You can use this dialog box to set the directory in one of two ways: Relative to POSITool or to the project file (relative path button, ) or You enter a concrete path (Select button, ). 31

Programming with POSITool 03 If you specify a relative path, you can always save POSITool or the project at another location. As long as the libraries remain relative in the same directory, they can be loaded when the project starts. After you have confirmed the dialog box with OK, the directory appears in the list shown in Figure 3-20 You will see the libraries from this directory in the library view and the Block libraries dialog screen (Figure 3-17), when you save, close and re-open the project. - : When you click this button, the directory selected in the list in Figure 3-20 is deleted : When you click this button, you can change the selected directory. Specifying user libraries under the project options If you are entering the directories of the user libraries under the project options, you can: Administer your own libraries for each project or Load libraries as required by the particular tasks. Make your settings in the menu File / Project options. The following dialog screen appears: Figure 3-22 Specifying user libraries under the project options Before you make the project options, remove the checkmark from checkbox in front of Use POSITool settings ( ). This activates the project options and the same dialog screen appears as for the settings under POSITool. Enter the directories here as you did for POSITool. 32

Programming with POSITool 03 3.6 Program Execution Runtime sequence The blocks within one configuration are assigned to a realtime and/or a background task. System blocks can be calculated in either realtime or background time. Standard blocks receive runtime in both tasks since they can contain system blocks in both tasks. Assignment is indicated with numbers to the right underneath the block (see Figure 3-23). The first number specifies the position of the block in realtime. The second number indicates the block's position in the background task. In Figure 3-23 the left block and all entire contents are calculated first in both the realtime and the background task. The right block is calculated next in the realtime task and the middle block is then calculated last. Calculation of the middle and the right block in the background task takes place in reverse order. Figure 3-23 Indication of the runtime sequence of several blocks This arrangement is made in each block to create a precise block processing sequence through the hierarchical structure. When the blocks are instanced, the block that was used last is placed in the last position of the runtime sequence. The blocks can be resorted to change the order. Proceed as shown below: Change the runtime sequence 1. Activate edit mode in the configuration interface. 2. Using the right mouse button, click the block and select "Runtime sequence" in the context menu which appears. 3. Enter in the menu the position in realtime and background time which the block is to assume in the particular runtime sequence (Figure 3-24). 4. Exit the dialog. The block is then resorted in the runtime sequence. The sequence is retained for the blocks which follow but the absolute position in the runtime sequence is adjusted. 33

Programming with POSITool 03 Figure 3-24 Sorting a block in the runtime sequence This dialog box can be used to move system blocks, which are only calculated in realtime, into the background task. Figure 3-25 shows the dialog box. To make the block change the task, place a checkmark in the applicable checkbox. Figure 3-25 Shifting a block between a realtime and a background task Processing the global and axis area When the program is being executed, the global area always receives computing time in the realtime and the background task. Computing time in the axis area is only assigned to the active axis. If no axis is active, only the global area is computed. Realtime and background tasks of the global and axis area are computed in the following sequence: Realtime, global Realtime, active Background, global Background, active A150 Figure 3-26 Executing the tasks over several cycles (simplified presentation) 34

Programming with POSITool 03 STÖBER ANTRIEBSTECHNIK Difference between realtime and background tasks The difference between realtime and background tasks is that the realtime portion of the program is calculated once per cycle (A150). If the device is unable to perform these calculations, fault 57:Runtime usage is triggered. Runtime usage is indicated in parameter E191. After realtime has been calculated, the remaining cycle time is used for the background portion of the program. This means that background tasks are usually executed over several cycles. If the background portion of the program is short enough to be executed during one cycle, it only has to be calculated once. Information In addition to the execution of the configuration, a 5 th generation STÖBER inverter also contains additional tasks which can be executed during a shorter cycle time than A150 (e.g., current control task). Since the shorter tasks interrupt the slower tasks, they must be considered in the calculation of the slower tasks. 3.7 Diagnosis The POSITool software offers various ways to monitor a program: Check the circuiting: Locate open block inputs Monitor the signal lines: Monitor signals in the configuration user interface Show signals in Scope 3.7.1 Checking the Circuiting Start the circuiting check with the button. Figure 3-27 shows the results of the test - an unconnected input was found on block "Test." Double-click this line to indicate the faulty location in the configuration interface. Figure 3-27 Results of the circuiting test 35

Programming with POSITool 03 Remember that the check only takes place at the current configuration level. Repeat the test at other levels to find other open block inputs. A check is performed for all levels when the configuration is downloaded or can be startet with the button. 3.7.2 Monitoring Signal Lines Another diagnostic possibility is the signal line monitor. This helps you to find structural errors in your programming. Before you can use this function, the configuration must have been checked so that it has no formal errors and transferred to the inverter. After this has been accomplished, proceed as shown below: Monitoring signal lines 1. Using the right mouse button, click the signal line that you would like to monitor. 2. Select "Monitor" in the context menu which appears. 3. Then select the desired signal scaling in the dialog box which appears. The current value of the signal is indicated as the result on the source of the signal line (block output). To close the monitoring screen, deactivate it via the context menu. If you want to close all monitoring screens at the same time, press the button. 3.7.3 Showing Signals in Scope Use the "signal names" function to show signals in Scope. Signal names offer the following advantages over monitoring parameters: They can be set up during online operation. You can also use signal names within blocks which you cannot change. 36

Programming with POSITool 03 Proceed as shown below to set up a signal name: Setting up a signal name 1. With the right mouse button click the signal which you want to show. 2. In the context menu select "add signal name". The following dialog screen appears: Figure 3-28 Setting up a signal name 3. Enter the designation of the signal name in the input field (maximum of 16 characters). 4. Click the "Edit" button in the "Scaling" box and select the scaling with which the signal is to be shown. 5. Confirm the dialog with the OK button. The signal name is indicated in the configuration user interface as shown below: Figure 3-29 Indication of a signal name in the configuration user interface 37

Programming with POSITool 03 You can edit and delete a signal name with the entries in the context menu of the configuration editor. If you click the selection with the left mouse button and keep the button pressed, you can move the selection in the configuration editor. If you activate edit mode, signal names are masked out in the configuration. Signal names are stored on the device if they already exist when the configuration file is downloaded. Signal names which are set up later are not saved. As soon as signal names exist, the "signal names" button is shown in the parameter list. If you click this button, a list of all signal names appears: Figure 3-30 Signal name in the parameter list Parameterizing signal name in scope 1. Open Scope. 2. Click the "channel selection and trigger" button in Scope. 3. In the dialog screen which appears select a channel and set "signal names" in the selection list to the left: Figure 3-31 Channel assignment with signal names 38

Programming with POSITool 03 4. In the selection list to the right select the signal name which you want to indicate: Figure 3-32 Selecting the signal name 5. Confirm the dialog screen with the OK button. You can show the signal with Scope. In addition to indicating signal names you can also trigger the signal name values. Deletions or changes in signal names have no effect on stored Scope indications. 3.8 Indicate/Search Functions The POSITool software offers you the option to display blocks in different views and the configuration. You can also indicate a parameter list for a block for which parameters are defined in its property dialog box or which contains other blocks with parameter definitions. Indicating blocks in the hierarchical view To obtain an overview of where an instanced block is located in the hierarchy, click the block with the right mouse button. Select "Show block in hierarchy view" in the context menu which appears. The block is then highlighted in the hierarchy view. Remember that system, standard and organization blocks can be hidden with the context menu. When you search for a block which is hidden, only the level in which it is being used is highlighted. 39

Programming with POSITool 03 Indicating blocks in the library There are two ways to find a block in the library. If you are looking for a block which is already instanced, click the block with the right mouse button. Select "Show block in library" in the context menu which appears. The block is then highlighted in the library view. If you need more extensive search functions (e.g., to find a certain topic like AND functions), proceed as shown below. Finding a block in the library 1. Using the right mouse button, click the area of the library. 2. Select "Search blocks..." in the context menu which appears. 3. In the dialog box enter the term which you are looking for (e.g., AND). See Figure 3-33). 4. Adjust the search options to your requirements by activating the appropriate checkboxes (Figure 3-33). 5. Start the search by clicking the "Search" button. Figure 3-33 Finding blocks in the library When a block is found which meets the search options, it is highlighted in the library. You can continue the search by pressing function key F3. 40

Programming with POSITool 03 Searching for blocks in the configuration If you want to look for a block in the configuration, click the configuration interface with the right mouse button. Select "Search blocks..." in the context menu which appears. The dialog box which appears resembles the one shown in Figure 3-33. It also offers the option of searching for certain block data. Remember that the search is performed within the current configuration level. Indicating a parameter list for a block If you want an overview of the parameters contained in an instanced block, click the block with the right mouse button in the configuration interface. Select "Show list of parameter for this block" in the context menu which appears. A parameter list with the applicable parameters is then opened. 41

Parameters 04 4 Parameters This chapter explains how to define and use the parameters when you program the 5th generation of STÖBER inverters. 4.1 Parameter list The parameters included in a particular configuration are available in a parameter list. The application which is selected and the parameter level which is set determine which of the parameters are indicated. Figure 4-1 View of the parameter list The top part of the screen shows the parameter table. Each line contains one parameter with the following information: Coordinates Label Value Default Maximum and minimum limit value Unit Data type Read and write level Status PreRead- or PostWrite-Function PDO-Mapping 42

Parameters 04 After a parameter is selected, the parameter description appears at the bottom of the screen. To change a parameter, double-click the line with the left mouse button. After the line is highlighted, activate Enter / # or the F2 key. To reset a changed value to the default value, click the line with the right mouse button. A context menu appears with the command "Use default as value". WARNING On parameter level 3, the value entered in the parameter can be used as the default value in the context menu. Before changing a default value, check the reliability of the new value! Figure 4-2 Selecting the parameter groups Several control elements appear over the parameter list. Press the "Parameter" button to indicate the parameter list. Press the "Actions" button to change to the parameters which can trigger actions (see chap. 6.8). Next to these buttons is a selection list. A certain parameter group can be selected with this function (see Figure 4-2). When the parameter list is opened in an axis area, the parameters from the global area can also be indicated. Global parameters can be hidden by ticking the checkbox "Only axis-dependent parameters". Parameter values which have been changed and parameter errors (e.g., limit values exceeded) are highlighted in color. Parameters which have been changed are shown with the background color yellow in the default setting. With parameter errors, the original value is retained and the text is colored red. The error marking is retained until a valid access is performed or the error is acknowledged with the F12 key. The colors can be changed in the menu "Extras / Options...". 43

Parameters 04 List of hyperlinks The list of hyperlinks tells you where a parameter is defined and where it is being used in the configuration. To open the list of hyperlinks, click the parameter line with the right mouse button. Move the mouse pointer to the entry "list of hyperlink " in the context menu. A list appears containing the following entries: System parameter: The parameter cannot be shown in the configuration. Definition: When you click this entry, POSITool shows the block in the configuration in which the parameter was defined. Usage: When you click this entry, POSITool shows the place in the configuration in which the parameter was used. Remember that indication of hyperlinks depends on the access level. The cross reference list is only visible if the currently set level authorizes you to see the block. 4.2 Defining Customer-Specific Parameters Customer-specific parameters are set up in group P. They define a parameter in the "properties" dialog of a block (see chap. 4.4). Click the "New" button in the "Parameter" section. A dialog box appears in which you can define a parameter (Figure 4-3). Eine einfache Möglichkeit einen Parameter zu definieren wird über die Schaltfläche Kopie gegeben. Betätigen Sie die Schaltfläche, erscheint ein Dialog, in dem Sie einen Parameter auswählen können. Durch die Bestätigung Ihrer Auswahl erstellen Sie einen Parameter, der über die gleichen Eigenschaften wie der gewählte verfügt. Mit diesem Verfahren ist es zum Beispiel möglich Positions-Parameter mit der Skalierung einer Masterachse zu definieren. Figure 4-3 Parameter properties 44

Parameters 04 Coordinates and designations In the "Coordinate" input field, enter the coordinates of the parameter which you want to use in the configuration. In the "Label" input field, enter a plain text designation with a maximum of 16 characters. Attributes You can activate attributes of the parameter with the checkboxes on the right side of the screen: Array: When the "Array" checkbox is activated, the parameter contains several elements of the same type. The number of elements is defined in the input field. Globaler parameter: When this checkbox is activated, the parameter is not dependent on the axis (i.e., during read and write accesses, the same memory location is accessed from every point in the program). If the checkbox is not activated, the parameter exists once for each axis (i.e., it has one memory location for each axis). Independent of instance: When this checkbox is activated, the parameter is created once in the configuration. The parameter also only exists once even though the block in whose property dialog the parameter is defined is used multiple times in the configuration. If the checkbox is not active, the parameter is re-created for each instance of the block. The parameter is created as per the definition in the property dialog for the first instance. For all subsequent instances, the parameter is created in group Q with the same properties (name, attributes, access level, etc.). The parameter coordinates are assigned in the order of instancing beginning with Q00. Signal parameter: When this checkbox is activated, the value of the parameter is not saved when the "save values" action is triggered. For this reason, you should only activate this attribute for parameters which are designed to signal current values. Fieldbus mapping: This attribute must be activated when a parameter is to be transmitted on the fast data channel of a fieldbus. When a parameter is to be written by the controller via fieldbus (receiving direction as seen by the inverter), the attribute "Remove enable required" also must be deactivated and the full value range must be permitted. Remove enable required: When this checkbox is activated, the parameter can only be changed when the inverter is not enabled (parameter A900 must be 0:inactive). Access level You can specify the required level for read and write accesses for the parameters separately. Set the level for read access in the selection "Access level r" and the write level in "Access level w". 45

Parameters 04 Types of parameters The "Type of parameter" selection gives you a choice between the following items: Normal parameter Selection parameter Text parameter Ramp parameter Lowpass parameter Address parameter You can also select from among the following parameter types depending on the selected application: Velocity parameter (e.g., for the Comfort Reference Value application) POSI parameter (e.g., for the Command Positioning application) POSI parameter (master) (e.g., for the Synchronous Command Positioning application) application) The selection "not displayable" is not a valid setting for the definition of a parameter. This selection is used when the settings of the parameter are too complex to show in the dialog box. This is the case when you either view a parameter defined by STÖBER Antriebstechnik or copy ("Copy..." button) such a parameter to your parameter definition. Depending on your choice, the bottom part of the dialog box indicates various possible settings. 46

Parameters 04 Normal parameters Figure 4-4 shows the bottom half of the dialog box for the parameter type "Normal parameter". Figure 4-4 Definition of "Normal parameter" For a "Normal parameter," you can choose between the data types Boolean, Integer (8-bit, 16-bit and 32-bit) and Unsigned (8-bit, 16-bit and 32-bit) as well as floating point formats Float (32-bit) and Double (64-bit). The input field "Decimal places" is used to create the indication of the parameter with up to six decimal places. For floating point representation, this means a restriction to a maximum of 6 positions. Representation of integer formats is scaled. Example: You enter two decimal places for a parameter of data type I16. The parameter is represented in the value range from -327.68 to 327.67. In the "Default setting" input field, enter the value which the parameter is to receive the first time it is instanced. If the parameter is instance-dependent (i.e., the parameter is re-created each time a block is instanced), the default value is assigned once to each instance of the parameter. You can use the function "Adjust full scale" to set scaling function no. 1 (see appendix) for the parameter. Activate the checkbox and enter the maximum representation value in the input field. Representation is scaled linearly between zero and this value. 47

Parameters 04 Example: You want to scale a parameter of data type I16 so that the range of representation is -100 to 100 (%). Activate the checkbox and enter 100 in the input field. For the representation, this means that the internal value 32767 is indicated as 100. You can use the option fields at the bottom to select whether you want to use the full value range of the data type or only a restricted area. Remember that the value range depends on any end value adjustment which has been made. If such an adjustment has been made, activate the option field "Value range... To..." and enter the upper and lower limits in the input fields. These values appear in the parameter list in the columns "min" and "max." Enter a unit (e.g., "rpm" or "units/s") in the "Unit" input field. The entry may consist of up to 8 characters. Selection parameters You can choose between the data types Boolean, Integer (8-bit and 16-bit) and Unsigned (8-bit and 16-bit) for a selection parameter (Figure 4-5). You can use the buttons to add, edit or remove selections. You can use the "Default" button to specify the currently highlighted selection as the default setting. Figure 4-5 Definition of a selection parameter 48

Parameters 04 Text parameters You can use the "Text parameter" type of parameter to define either an 8 or a 16-character string. Enter the default value in the bottom input field (see Figure 4-6). Figure 4-6 Definition of a text parameter 49

Parameters 04 Ramp parameter When you set the "Ramp parameter" parameter, the dialog screen shown in Figure 4-7 appears: Figure 4-7 Definition of a ramp parameter You can use this setting to define either a ramp or a ramp smoothing. To define a ramp click the setting "acceleration ramp (like D00)" in the "Ramp parameter" selection ( ). This gives you a parameter with the scaling function 10. To define a ramp smoothing selects the setting "ramp smoothing (like I16)." This gives you a parameter with the scaling function 13. Enter the default of the parameter in the "Default setting" input field ( ). You can specify the value range of the parameter in the line below this ( ). 50

Parameters 04 Lowpass parameter When you select the parameter type "Lowpass parameter," the properties dialog screen shown in Figure 4-8 appears. You can specify a lowpass constant with a lowpass parameter. Figure 4-8 Definition of a lowpass parameter Information Remember that the scaling functions for lowpass parameters depend on the cycle time in which the parameters are calculated. The parameters C33, C34 and C36 are not calculated in the cycle time of the configuration (A150). When you want to switch between the original parameters C33, C34 and C36 and the parameters which you created during operation, use one of the following settings in the "Low-pass" selection field - - "lowpass reference speed (like C33), - "n-motor low pass (like C34) or - "reference torque low pass (like C36), In all other cases we recommend defining the lowpass parameter with the setting "Operating range low pass (like C43)." With this setting the parameter is scaled with a function which considers the cycle time of the configuration A150. Enter the default value of the parameter in the "Default setting" input field ( ). Define the value range of the parameter in the "Value range" field ( ). 51

Parameters 04 Address parameter When you select the parameter type "Address parameter," the "parameter properties dialog screen shown in Figure 4-9 appears. Enter the coordinates of another parameter in an address parameter. When you read the address parameter, the value of the entered parameter is supplied. When you define an address parameter, you can specify the default of the parameter (e.g., D231) in the "Default setting" field. Figure 4-9 Definition of an address parameter 52

Parameters 04 Velocity parameter You can use the parameter type "Velocity parameter" to define parameters which represent the speeds (velocities) or ramps in customer-specific units. Information Remember that you can only define a velocity parameter if you have configured in the Comfort Reference Value application. Figure 4-10 Definition of a velocity parameter Figure 4-10 shows the "Parameter properties" dialog screen with the parameter type "Velocity parameter." You can set whether the parameter represents a speed (velocity) or a ramp ( ) in the "Velocity parameter" selection list. Enter the default setting of the parameter in the "Default setting" input field ( ). Use the option fields below this to define the value range ( ). The following options are available "Value range To ": Restrict value range as desired "Full scale (only positive)": Restrict the value range to positive values. This setting can only be used for ramp parameters. "Full scale : No restrictions on the value range 53

Parameters 04 POSI parameter The parameter type "POSI parameter" is used to represent positions, for example Information Remember that you can only represent a POSI parameter if you have configured a positioning application (e.g., command positioning). Figure 4-11 Definition of a POSI parameter Figure 4-11 shows the "Parameter properties" dialog screen for a POSI parameter. Select the scaling with which the parameter is to be indicated in the "POSI parameter" selection list ( ). The following options are available: "Position (like I50) : Representation of a position in data format P64 (scaling function 8) "Position (32 bit) : Representation of a position in data format I32 (scaling function 14) "Speed (like I10) : Representation of a speed (scaling function 14) "Acceleration (like I11) : Representation of a ramp (scaling function 14) "Jerk (like L14) : Representation of a jerk (scaling function 14) "Without scaling : Representation in increments and remainder increments 54

Parameters 04 Information Remember that representation in increments and remainder increments can be confusing so STÖBER ANTRIEBSTECHNIK GmbH+Co. KG does not recommend its use. Enter the default setting of the parameter in the input field "Default setting" ( ). Use the option fields below this to define the value range ( ): "Value range To ": Restrict value range as desired "full scale (only positive) : Restrict value range to positive values "full scale : No restrictions on the value range POSI parameter (master) Master positions and master speeds (velocities), for example, are represented with the parameter type "POSI parameter (master)". Information Remember that you can only define "POSI parameter (master)" when you have configured one in synchronous applications (e.g., synchronous command positioning). Figure 4-12 Definition eines POSI Parameters (Master) 55

Parameters 04 Figure 4-12 shows the "Parameter properties" dialog screen for a POSI parameter (master). In the selection list "POSI Parameter" select the scaling with which the parameter is to be shown ( ). The following options are available: Position (like G80) :Representation of a master position in data format P64 (scaling function 19) "Position (32 bit) : Representation of a master position in data format I32 (scaling function 20) "Speed (like G84) : Representation of a speed (velocity) (scaling function 20) "Acceleration (like G57) : Representation of a ramp (scaling function 20) Enter the default setting of the parameter in the input field "Default setting" ( ). Use the option fields below this to define the value range ( ). The following options are available: "Value range To ": Restrict value range as desired "Full scale (only positive) : Restrict value range to positive values "Full scale : No restrictions on the value range 56

Parameters 04 4.3 Describing Customer-Specific Parameters If you highlight a customer-specific parameter in the parameter list, the list indicates "There is no description for this parameter in english!" To assign a description to a customer-specific parameter, proceed as shown below: Creating a description for customer-specific parameters 1. Set up a folder (e.g., with the name UserDoc). Place the folder in the directory of your project or the POSITool software. 2. Open a new file in WordPad or another word processing program which can save RTF files. 3. Enter the description in the file. 4. Save the file in the folder which you created with the name of the parameter in RTF format (e.g., P00.rtf). 5. In POSITool open the item "Project options " in the menu "File". 6. Deactivate the checkbox "Use POSITool settings ". 7. Activate the "Select..." button and select the folder created by you in the dialog box "Search for folder". 8. Exit the "Project Options " dialog box (Figure 4-13). If you now highlight the customer-specific parameters in the parameter list, the description appears in the screen below this. 57

Parameters 04 Figure 4-13 Integrating the descriptions of customer-specific parameters If, within a project, a parameter is used in several inverters, but has different meanings, you can display separate RTFs for each inverter. For this purpose open the context menu in the inverter view (right mouse button) and select the inverter settings. In the dialog box displayed, clear the Use POSI-Tool Settings checkbox in the UserDoc-Path group box. Then enter in the field the path for the UserDoc folder for this inverter. Relative paths You can also specify the folder relative to POSITool or a project. Activate the "relative path" button in the dialog box "Project options " and choose between the relative path to POSITool or to the current project. Depending on your choice, the input field indicates either %PROJECT% or %POSITOOL%. Add a backslash and the name of the folder in which the RTF files are to be saved (e.g., \USERDOC) to this entry. After you close the dialog box, POSITool uses the RTF files from the specified folder. If you copy the project or POSITool to another directory, the relationship is retained. 58

Parameters 04 4.4 Integrating Parameters in the Configuration Organization block 8 000 001 parameter Almost all parameters of the block 8 000 001 parameter from the library of organization blocks can be used to read a parameter in the configuration (Figure 4-14). Figure 4-14 Organization block 8 000 001 Double-click the block to enter the coordinates of the parameter which are to be integrated in the configuration (Figure 15). Figure 15 Integrating parameter P00 Writing parameters Before you can write a parameter, you need a block from the "Parameter" library (e.g., 193) in addition to the organization block 8 000 001 "Parameter." Figure 4-16 shows how parameter P00 is written with the constant value -215. Figure 4-16 Writing a I16 parameter 59

Parameters 04 Remember that the block must be selected based on the data type and the date length of the parameter: Data Type Block No. Boolean, U8, I8 192 U16, I16 193 U32, I32 193 P64 197 R32 195 R64 196 String 8 397 String 16 398 Preread and postwrite functions The integration described here can be used for most of the parameters. However, some parameters (e.g., E00 I-Motor) have invisible attributes which prevent direct access in the configuration. These attributes include the socalled preread and postwrite functions. These functions use the raw value of another parameter after it was already written to the memory location (PostWrite) or before it is read (PreRead). These attributes permit calculation together with other parameters, for instance. When a parameter has a PostWrite or PreRead function, a new value cannot take effect until the function is executed. Organization block 8 000 001 parameter does not execute the functions so that, although new raw values are supplied, these values cannot take effect because the functions have not been executed. You can see which parameters have a PreRead or PostWrite function in the related column in the parameter list. An access via so-called driver blocks can be provided for some of the parameters. You will find the blocks in the library "Driver / Inputs" or "Driver / Outputs." The list in the appendix indicates whether a parameter can be integrated with a drive block. 60

Programming an Application 05 5 Programming an Application Configuration level 3 offers you many ways to change an application. For example, you can change reference value path handling in existing applications (e.g., fast reference value). In contrast, a PLCopen application cannot be executed until it is programmed. Although the standard version contains positioning functionality, the positioning commands must be supplied via a parameter interface. The parameter interface is supplied via PLCopen blocks. They output commands such as MC_MoveAbsolute which are processed by the positioning function. This chapter describes the program structure recommended by STÖBER ANTRIEBSTECHNIK using the "flying saw" application. Typical programming actions such as triggering an event are also presented. The "flying saw" application is based on the application "El.CamCommandPosi. (limited)." A block was added to this application at the highest level (Figure 5-1). The lower block - "El.CamCommandPosi. (limited)" - is the standard block which is the highest block and part of the "cam disk command Posi (limited)" application. It contains the positioning functionality. The higher block ("PLCopen") contains the programming required for the "flying saw" application. Figure 5-1 Function The "flying saw" application is used to process material during a running (moving) process. This is a cyclical process during which the tool accelerates from its basic position to the speed of the material. Afterwards the tool travels synchronously with the material and performs the necessary processing. After the tool finishes processing, it decelerates and returns to its basic position. This procedure can be repeated as often as you want. 61

Programming an Application 05 Structure of the "PLCopen" block Figure 5-2 Figure 5-2 shows the structure of the "PLCopen" block. It contains six additional blocks which have the following jobs: Communication Interface Input: The block provides input signals. These input signals can be supplied via bus or terminal. Error Handling: The block contains the programming for triggering device malfunctions. MainStateController: When an application is expanded, a state machine should be created and programmed. An application state machine can be used to generate unique process sequences, for instance. The MainStateController block is such a state machine. StateIndependentFunctions: This block contains all functions which are executed independently of the application state machine (e.g., a cam which must be continuously calculated). PLCopenCommands: This block contains the sequence of the PLCopen commands. Communication Interface Output: This block links the output signals with the desired interface (fieldbus or terminal). Parameter: All parameters that are required for programming are defined in the properties dialog box of this block. Another method is to define control, status and process parameters in separate blocks to improve organizational overview. 62

Programming an Application 05 Remember that the block sequence introduced here will also be used for the runtime sequence. The sequence may change in your project, for instance, because an error state is calculated in the StateIndependentFunctions block. In this case, the Error Handling block must be re-sorted in the runtime sequence to avoid long reaction times. The following sections provide a detailed description of the structure of the blocks Communication Interface Input, Error Handling, MainStateController and Communication Interface Output. You will learn which blocks to use for the tasks and which blocks to use for programming. This will give you an initial overview of the block library of POSITool. 5.1 Input and Output Signals Input signals of the terminal strip The Communication Interface Input block provides the input signals. When the signals are supplied via terminal, driver blocks must be used to integrate the signals into the configuration. You will find the blocks in the library under "Standard blocks / Driver / Inputs". This library also contains the driver blocks for the analog inputs. Figure 5-3 shows the programming of the signal on binary input BE1. The signal is fetched from the terminal by block 100003. Block 192 writes the signal to the parameter specified by input ParAdr (in our example P40). You will find block 192 in the library under "Standard blocks / Parameter". Remember to place block 100003 before block 192 in the runtime sequence so that P40 is not overwritten with signal states from the last cycle. Figure 5-3 Output signals for the terminal strip The standard application already contains the programming of the interface to the binary outputs. In this case, parameters F61 to F70 are available. If you want to output a binary signal to a terminal, write the signal to a parameter and enter the parameter in one of the parameters F61 to F70. Remember that the number of available binary outputs depends on the inverter and the integrated options. 63

Programming an Application 05 Input signals via fieldbus If you are sending binary signals via fieldbus, the signals must be combined in a byte, word or double-word and split in the inverter. Figure 5-4 shows parameter P400 which is written via fieldbus. It is split into its bits which are written to additional parameters. You will find the Split block in the library under "Standard blocks / Selection and Conversion /Type converter". Figure 5-4 64

Programming an Application 05 Output signals via fieldbus When you send binary signals, the reverse procedure is used. The signals are collected in one parameter which can then be read via fieldbus (Figure 5-5). You will find the Collector block in the same library as the Split block. Figure 5-5 5.2 Event Processing Triggering events Events are triggered via blocks 260 to 267. Each block uses a binary trigger signal to trigger an application event. Figure 5-6 shows the programming the triggering of application event 3 (block 263) by parameter P77. Figure 5-6 An event cannot affect operation (message), can indicate a message for an adjustable time and then trigger a malfunction, or trigger a malfunction immediately. When a malfunction occurs, the inverter changes to the device state "malfunction" and the power pack is turned off. The event level is parameterized with the U parameters. You can also enter a text there which will be indicated on the inverter's display when the event occurs. For information on the allocation of parameters to blocks, see the block description (ID 441692). For example, parameters U100, U101 and U102 are available for block 260 (application event 0). 65

Programming an Application 05 Other tasks In addition to triggering events, the Error Handling block reports the event to the application state machine (e.g., to perform a positioning reset when an error occurs). 5.3 State Machine Creation of an application state machine will now be explained based on an example. The state machine in Figure 5-7 will be described. State 1 (standby) is achieved by turning on the inverter. If the enable is activated, a transition to automatic operation (3 auto) takes place. During automatic operation, the step sequence implementing the "flying saw" sequence is to be executed. When enable has been given and the tipping signal is active, a transition to the manual state takes place and the drive is placed in tipping mode (2 - manual). In case an error occurs, a transition to state 0 (error stop) takes place from all other states. The Signal Error Reset can be used to change from the error state back to standby. Turn Einschalten on 0 Errorstop Error Reset Error 1 Standby Error Error Freigabe Enable on ein and und manual Hand gewählt selected Freigabe Enable off Aus Enable Freigabe off Aus Enable Freigabe on and ein und manual Hand nicht not gewählt selected Figure 5-7 Example of an application state machine Man. Hand not selected abgewählt 2 Manual 3 Auto Man. Hand selected gewählt To implement this state machine, a control parameter is defined first (e.g., P00 with data type U8). The particular state is changed by overwriting the parameter with a value between 0 and 3. P00 can also be used for the indication. 66

Programming an Application 05 Structure of the state machine Figure 5-8 shows the principal structure of the Main State Controller block. The first level contains the request for the state in which the application is located. By specifying a runtime sequence, state 0 is started and the other states are then requested in succession. When the result is positive, the particular routine is started. The routine has two jobs. First, the program sequence for the state must be stored in the routine. For example, the tip signals are sent to the positioning interface in the manual state. During automatic mode, the step sequence is programmed in the state routine. The routine's second task is to query the conditions for a state change. Main State Controller Capsule Kapselbaustein: block: Main Main State Controller Zustand State 0 0?? Nein No Zustand 1? Nein No Zustand 2? Nein No State 1? State 2? Yes Ja Yes Ja Ja Yes Aktivierung Activate der the Zustandsroutine state routine Aktivierung Activate der the Zustandsroutine state routine Aktivierung Activate der the Zustandsroutine state routine Two Zwei jobs Aufgaben of the einer state Zustandsroutine: 1. Funktion des jeweiligen Zustands, z.b. Tippen im Handbetrieb 1. 2. Function Bedingungen of the für einen respective Zustandswechsel state (e.g., kontrollieren tipping in und manual reagieren mode) Figure 5-8 Structure of the Main State Controller block Other Weitere Zustände states Example Figure 5-9 shows the programming of the first level for the first two states. Control parameter P00 is compared via a comparator with each state that it can assume. When the result is positive, the respective output becomes In1=In2 =1:active. This activates the next block via the enable input. This block contains the state routine. First Erste block Bausteinebene: level: Call Programm program des of aktuellen the current Zustands state aufrufen Additional Weitere block levels: State Bausteinebenen: functions Zustandfunktionen 67

Programming an Application 05 Figure 5-9 Programming of the first level in the Main State Controller block Aufbau der Manual-Zustandsroutine Figure 5-10 shows the first section of the program for the manual state routine. The tip signals (i.e., tip enable, tip+ and tip-) were copied to the parameters P53, P54 and P58 in the Communication Interface Input block. The signal state is copied to parameters P602 and P604 during the state routine. The parameters are used by the standard application to supply the signals to the positioning controller. This intermediate step is necessary to delete the tip signals in case of a malfunction, for instance. This action is performed by the error state routine. Figure 5-10 Overwriting the tip signals Figure 5-10 shows a query for change in state. The interconnection checks to determine whether the enable was turned off. In this case, the inverter is in the 68

Programming an Application 05 device state E48 = 2:ready for switch-on. If the result of the query is positive, the next block is activated and calculated. It is in this block that the value 1 is allocated to the control parameter P00 so that a transition is made to the standby state. Ready for switchon Figure 5-11 69

Appendix 06 6 Appendix Scaling Functions This section discusses the scaling functions. Scaling functions are used to switch between and recalculate the internal and indicated value of a signal (e.g., indicating the motor current in A). You will need scaling functions for your 5th generation of STÖBER inverter system in the following situations: When a parameter is transferred as a raw value via fieldbus, you must know the scaling function for calculation or evaluation on the PLC. For more information, see also the fieldbus documentation. You can choose which scaling to use for the indication so that a signal can be monitored in the configuration (see chap. 3.6). When defining a parameter, you can copy the complete setting including scaling function from another parameter (see chap. 4.2). The raw value serves as the basis for all scaling functions. The raw value is scaled for indication on the display and in POSITool. A second scaling takes place when Integer-4 byte representation is used with fieldbus operation. Legend The following abbreviations are used in this description: An Indication on the display and in POSITool Roh Raw value which is internally calculated. Ganz Indication value for the Integer-4 Byte transmission via fieldbus Ske Scaling end value: Value which is indicated in Integer-4 byte format on the fieldbus when the greatest possible value of the data type is available as a raw value. Full Full-scale value: Depends on data type I8 127 U8 255 I16 32767 U16 65535 I32 2147483647 U32 4294967295 Nks Decimal places: Number of positions after the decimal point 70

Appendix 06 Scaling function no. 1 constant end value Scaling function no. 1 is the most used function. It is allocated to a parameter defined by the user when the function "Adjust full scale" is activated in the properties dialog box of the parameters (see chap. 4.2). Remember the differences between the data types: The following applies to the indication in POSITool and data types I8, U8, I16, U16, I32 and U32: Ske An Nks An = Roh Roh = Full 10 Nks Full 10 Ske The following applies to fieldbus transmission and data types I8, U8, I16, U16, I32 and U32: Ske An An = Roh Roh = Full Full Ske The following applies to the indication in POSITool and data types Float and Double: Ske An Nks An = Roh Roh = 10 Nks 10 Ske The following applies to fieldbus transmission and data types Float and Double: An An = Roh Ske Roh = Ske Scaling function no. 3 motor current Scaling function no. 3 is used for the parameters E00 I-motor and E34 I-maxmemorized value. It is similar to scaling function no. 1. The final scaling value is calculated from the nominal device current (in amperes) during operation with asynchronous motor and a switching frequency of 4 khz. The following applies to the indication in POSITool: 8 An = Roh Nom. devicecurrent 32767 An 32767 Roh = Nom. devicecurrent 8 The following applies to fieldbus transmission: 80 Ganz = Roh Nom. devicecurrent 32767 Ganz Roh = Nom. devicecurrent 32767 80 71

Appendix 06 Scaling function no. 5 reference torque low pass Scaling function no. 5 is used with the parameter C36 reference torque low pass. The scaled value An is calculated in millisecond units The following applies to indication in POSITool: 1 An = Roh ln(1 ) 16383 Roh = 16383 (1 e 1 An ); Exception: When An = 0, then Roh = 16383 The following applies to fieldbus transmission: 10 Ganz = Roh ln(1 ) 16383 10 Ganz Roh = 16383 (1 e ) ; Exception: When Ganz = 0, then Roh = 16383 Scaling function no. 6 n-motor low pass Scaling function no. 6 is used with parameter C34 n-motor low pass. The scaled value An is calculated in millisecond units. The following applies to the indication in POSITool: 1 An = Roh ln(1 ) 16383 0,25 An Roh = 16383 (1 e ) ; Exception: When An = 0, then Roh = 16383 Example: An indicated value of 3.3 ms corresponds to a raw value of 0,25 3, 3 16383 (1 e ) = 1195 The following applies to fieldbus transmission: 2,5 Ganz = Roh ln(1 ) 16383 2,5 Ganz Roh = 16383 (1 e ) ; Exception: When Ganz = 0, then Roh = 16383 72

Appendix 06 Scaling function no. 7 M-motor Scaling function no. 7 is used filtered with parameter E02 M-motor. The scaled value An is calculated in Nm units. The calculation uses the nominal torque (asynchronous motors) or zero torque (servo motors) of the motor. The following applies to the indication in POSITool: 8 An = Roh Nom. torque 32767 An Roh = Nom. torque 32767 8 The following applies to fieldbus transmission: 80 Ganz = Roh Nom. torque 32767 Ganz Roh = Nom. torque 32767 80 Scaling function no. 8 positions Scaling function no. 8 is used for 64-bit position values. The function supplies position values in the reference system of the motor which is being operated on the inverter. Function 19 is used for scaling the positions of a master. Parameters I253 and I254 are used for the conversion calculation. These parameters are used as raw values in the calculation. I254 is already indicated in POSITool as raw value. I253 must be multiplied with a factor. The factor is calculated from the number of decimal places specified in I06: I253 I06 Roh = I253 10 Reference and actual positions must be distinguished between when position values are calculated. Only the integer portion of the calculation is used for actual positions: RohGanz I253Roh RohGanz I253 AnIst = = I06 I254 10 I254 It may be necessary to consider the remaining (rest) components when reference values are calculated. RohGanz I253Roh + RohRe st RohGanz I253 RohRe st AnSoll = = + I06 I06 I254 10 I254 I254 10 For the reverse calculation of display values into raw values without considering the remainder (rest): I254 10 Roh = An I253 Roh I06 I254 = An I253 The following calculation is used when the remainder (rest) is considered: Roh Roh Ganz I254 10 = An I253 Roh I06 I254 = An I253 I06 Re st = An 10 I254 RohGanz I253Roh 73

Appendix 06 Please remember that 10 I06 means 10 raised to the power of the number of decimal places entered in I06. Scaling function no. 9 runtime usage Scaling function no. 9 is used with parameter E191 runtime usage. The raw value and the cycle value are specified in microseconds. The cycle value is calculated from A150 cycle time. 100 An = Roh Cycle Cycle Roh = An 100 Scaling function no. 10 n-ramp Scaling function no. 10 is used to indicate speed ramps such as D00 acceleration ramp or D81 quick stop deceleration ramp. 49152000 An = Roh 4915200 Roh = An Scaling function no. 11 low pass constants Scaling function no. 11 is used to indicate low pass constants such as C43 operating range low pass, F13 AE1 ref low pass filter and various block inputs. The value from A150 cycle time is used for the calculation (in milliseconds). The following applies to the indication in POSITool: A150 An = Roh ln(1 ) 65535 A150 An Roh = 65535 (1 e ) ; Exception: When An = 0, then Roh = 65535 The following applies to fieldbus transmission: A150 10 Ganz = Roh ln(1 ) 65535 A150 10 Roh = 65535 (1 e Ganz ) ; Exception: When Ganz = 0, then Roh = 65535 74

Appendix 06 Scaling function no. 12 Low pass reference speed C33 Scaling function no. 12 is used for parameter C33 lowpass v-ref. The value An is calculated in milliseconds. The following applies to the indication in POSITool: 0,5 An = Roh ln(1 ) 2147483647 0,5 An Roh = 2147483647 (1 e ) ; Exception: When An = 0, then Roh = 2147483647 The following applies to fieldbus transmission: 5 Ganz = Roh ln(1 ) 2147483647 5 Ganz Roh = 2147483647 (1 e ) ; Exception: When Ganz = 0, then Roh = 2147483647 Scaling function no. 13 S ramp smoothing Scaling function no. 13 is used for parameter I16 S-ramp smoothing. The value Dis is calculated in milliseconds. The value from A150 cycle time (in milliseconds) is used for the designation A150. The following applies to the indication in POSITool: A150 An = Roh ln(1 ) 16384 A150 An Roh = 16384 (1 e ) ; Exception: When An = 0, then Roh = 16384 Scaling function no. 14 speeds and ramps for positionings Scaling function no. 14 is used to scale speeds and ramps which refer to the positions specified by scaling function no. 8. The speeds and ramps are specified as data type I32. Auxiliary parameters I253 and I254 are used for the calculation. I254 appears unscaled in the parameter list. I253 must be multiplied by a factor. The factor is calculated from the number of decimal places (Nks) specified in I06: I253 I06 Roh = I253 10 The following applies to the indication in POSITool: Roh I253Roh Roh I253 An = = I06 I254 10 I254 I254 10 Roh = An I253 Roh I06 75

Appendix 06 Please remember that 10 I06 means 10 raised to the power of the number of decimal places entered in I06. Scaling function no. 16 E90 M-motor Scaling function no. 16 is similar to function no. 7 except for the calculation of the integer-4 byte format for fieldbus and the use in parameter E90. The calculation uses the nominal torque (asynchronous motors) or zero torque (servo motors) of the motor in Nm. The value An is used in the Nm unit. The following applies to the indication in POSITool: 8 An = Roh Nom. torque 32767 An Roh = Nom. torque 32767 8 The following applies to fieldbus transmission: 800 Ganz = Roh Nom. torque 32767 Ganz Roh = Nom. torque 32767 800 Parameter E90 is calculated for the active axis. Scaling function no. 17 customer scaling for speeds Scaling function no. 17 can be used to specify speeds in customer-specific variables (e.g., bottles/sec). I16 and I32 values are available as data types. Auxiliary parameters D86 decimal digits, D87 numerator, D88 denominator, and D89 measure.unit are used for the calculation. This results in an indication value of data type I32: D86 D87 10 An = Roh D88 16384 For an indication value of data type I16: D86 D87 10 An = Roh D88 4 Please remember that 10 D86 means 10 raised to the power of the number of decimal places entered in D86. 76

Appendix 06 Scaling function no. 18 customer scaling for speed ramps Scaling function no. 18 can be used to customer-specifically scale speed ramps of data type I32. Auxiliary parameters D86 decimal digits, D87 numerator, D88 denominator, and D89 measure.unit are used for the calculation. This results in the following for an indication: D86 D87 An = Roh 1000 10 D88 16384 Please remember that 10 D86 means 10 raised to the power of the number of decimal places entered in D86. Scaling function no. 19 master positions Scaling function no. 19 is used for 64-bit position values when positioning is from the supply system of the master. Parameters G249 and G250 are used for the conversion calculation. These parameters are used as raw values in the calculation. G249 is already shown in POSITool as a raw value. G250 must be multiplied with a factor. The factor is calculated from the number of decimal places (Nks) specified in G46: G250 G46 Roh = G250 10 A distinction must be made between reference and actual positions when calculating position values. Only the integer portion is used for the calculation of actual positions: RohGanz G250Roh RohGanz G250 AnIst = = G46 G249 10 G249 It may be necessary to consider the remaining components (rest) when reference values are calculated. RohGanz G250Roh + RohRe st RohGanz G250 RohRe st AnSoll = = + G46 G46 G249 10 G249 G249 10 For the reverse calculation of display values into raw values without considering the remainder (rest): G249 10 Roh = An G250 Roh G46 G249 = An G250 The following calculation is used when the remainder (rest) is considered: Roh Roh Ganz G249 10 = An G250 Roh G46 G249 = An G250 G46 Re st = An 10 G249 RohGanz G250Roh Please remember that 10 G46 means 10 raised to the power of the number of decimal places in G46. 77

Appendix 06 Scaling function no. 20 speeds (velocities) in master units Scaling function no. 20 is used to scale speeds and ramps which refer to the positions specified with scaling function no. 19 (master reference system). The speeds and ramps are specified as I32 data types. Auxiliary parameters G249 and G250 are used for the calculation. G249 is shown unscaled in the parameter list. G250 must be multiplied with a factor. The factor is calculated from the number of decimal places (Nks) specified in G46: G250 G46 Roh = G250 10 The following applies to the indication in POSITool: Roh G250Roh Roh G250 An = = G46 G249 10 G249 G249 10 Roh = An G250 Roh G46 Please remember that 10 G46 means 10 raised to the power of the number of decimal places entered in G46. Scaling function no. 22 related torque Scaling function no. 22 is used for parameter B18 related torque. The nominal torque (for asynchronous motors) or the zero torque (for servo motors) of the motor in Nm is used for the calculation. The following applies to the indication in POSITool: 8 An = Roh Nom. torque 32767 An Roh = Nom. torque 32767 8 The following applies to fieldbus transmission: 800 Ganz = Roh Nom. torque 32767 Ganz Roh = Nom. torque 32767 800 In contrast to parameter E90 with scaling function no. 16, parameter B18 is calculated separately for each axis. 78

Glossary 07 7 Glossary Block enable Every block created by the user has a block enable input. The input is hidden after the block is created. Using the right mouse button, you can click the block to call a context menu in which you can activate the indication of the block enable. The enable input is used to activate/deactivate calculation of the block. Deactivating complex blocks can reduce runtime. Editing mode Before you can edit a configuration, you must activate the editing mode of the configuration interface. There are two ways to do this: 1. Using the right mouse button, click a free area on the configuration interface and select "Edit" in the context menu which appears or 2. Press the button. When editing mode is active, the configuration interface is indicated with a dot-grid. Libraries Fieldbus mapping Enable-out required Libraries offer and manage blocks. STÖBER ANTRIEBSTECHNIK provides you with various libraries which, for example, contain blocks for arithmetic functions or Boolean operations. The libraries are called in the administrative area of POSITool by clicking the "Libraries" tab. Fieldbus mapping is a parameter attribute. It can be activated with the parameter definition and is a prerequisite for sending parameters over the high-speed data channel during fieldbus operation. When a parameter is written via fieldbus by the controller (receiving direction as seen from the inverter), the attribute "Freigabe-Aus gefordert" (Remove enable required) must be deactivated and the full value range must be permitted. "Remove enable required" is a parameter attribute. When the attribute is activated, the parameter can only be changed when the inverter is not enabled (parameter A900 must be 0:inactive). 79

Glossary 07 Hierarchy view The hierarchy view gives you a complete overview of the program. The hierarchical structure shows you which blocks are contained in another block. Figure 1 Hierarchy view Instance, instancing As seen in the context of the 5th generation of STÖBER inverters, instancing is the use of a block in the configuration interface. The block receives an instance number which appears to the left below the block. Instance numbers specify the order in which the blocks of one level are used. Instance-independent Key file If a parameter was defined with the property "independent on instance", the parameter is created once in the configuration. The parameter only exists once even if the block in whose property dialog the parameter is defined is used more than once in the configuration. When the property is not activated, the parameter is created again for each instance of the block. For the first instance, the parameter is created as per the definition in the property dialog. The parameter coordinates are assigned beginning in Q00 in the instancing sequence. You must have attended programming classes at the STÖBER ANTRIEBSTECHNIK Training Center before you can program a device of the 5th generation of STÖBER inverters. After attending these classes you will receive a key file which will allow you to set configuration level 3. Configuration level 3 authorizes you to modify or add to an application at the two top levels. Level 3 is activated as shown below: Save the key file in the directory in which POSITool is installed. Open POSITool. In the Extras menu select the menu item Change access level.... Set the configuration level to 3:Access level 3. 80

Glossary 07 Configuration Runtime sequence Write protection Read only The configuration screen contains the programming interface. Blocks are entered here and linked when the "free, graphic programming" option is used. Applications defined by STÖBER ANTRIEBSTECHNIK GmbH+Co. KG provide the programming in a capsule block. Open a configuration screen by double-clicking "Configuration" in the project view. Remember that the global area and each axis area can be configured independently. The runtime sequence specifies the order in which the blocks of one configuration level will be executed. Write protection of the block is activated each time the library in which you manage a block created by you is loaded. A write-protected block can be used in the configuration but not changed. Remember that the library is also loaded when you open a project again in which you have used the block. You can deactivate write protection by clicking with the right mouse button on the block in the configuration interface or by clicking the block library. The third way is to click the opened block in the configuration interface. In the context menu which appears select "Read only". You can then edit the block. Signal line Scaling functions To create a program sequence, signals for further processing are connected via signal lines with other blocks. Before a signal line can be created between two connections, the connections must have the same data type (e.g., integer, floating point or string) and the same data length (e.g., 1 byte). For instance, a connection can be established between U16 and I16 connections, but not between U8 and U16 or I8 and String8. In this connection, remember that since the data type Boolean has an internal length of 1 byte, a Boolean signal can be connected with U8 and I8 connections and vice versa. The data type of the input (i.e., the value is interpreted with a sign for connection of a U16 signal to an I16 input) applies to the evaluation in the block. Remember that the input value is evaluated as follows for connection of an I8 or U8 signal to a Boolean input. If the input value is zero, the Boolean signal is evaluated as zero. If the input value is not zero, the Boolean signal is evaluated as 1. Connections of the available data types (integer, floating point, string and Posi) are represented in their default settings with different colors. You can change the color settings in the menu Extras / Options on the Configuration editor page. See appendix 81

Glossary 07 UserDoc When you highlight a customer-specific parameter in the parameter list, "There is no description for this parameter in english!" appears below the list. You can use a USERDOC directory to obtain a description of a customer-specific parameter. Proceed as shown below: Set up a folder (e.g., with the name UserDoc). Place the folder in the directory of your project or the POSITool software. Open a new file in WordPad or another word processing program which can save RTF files. Enter the description in the file. Save the file in the folder which you created with the name of the parameter in RTF format (e.g., P00.rtf). In POSITool open the item "Project options " in the menu "File". Deactivate the checkbox "Use POSITool settings". Activate the "Select..." button and select the folder created by you in the dialog box "Search for folder". Exit the "Project options " dialog box (Abbildung 4-10). If you now highlight the customer-specific parameters in the parameter list, the description appears in the screen below this. 82

Notes STÖBER ANTRIEBSTECHNIK

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Notes STÖBER ANTRIEBSTECHNIK SMS, POSIDYN and POSIDRIVE are protected names of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. Other product and brand names are trademarks of the particular manufacturers and are only used for explanatory purposes. 2010 STÖBER ANTRIEBSTECHNIK GmbH + Co. KG 06.2010 - Subject to technical change without prior notice -

STÖBER PRODUCT RANGE Geared Motors MGS Geared Motors MGS C Helical Geared Motors MGS F Shaft-Mounted Helical Geared Motors MGS K Helical Bevel Geared Motors MGS S Helical Worm Geared Motors SMS Geared Motors SMS P Planetary Geared Motors SMS PA Planetary Geared Motors SMS PH Planetary Geared Motors SMS PHA Planetary Geared Motors SMS PHQ Planetary Geared Motors SMS PHQA Planetary Geared Motors SMS PKX Right-Angle Planetary Geared Motors SMS PK Right-Angle Planetary Geared Motors SMS PHKX Right-Angle Planetary Geared Motors SMS PHK Right-Angle Planetary Geared Motors SMS KS Right-Angle Planetary Geared Motors SMS C Helical Geared Motors SMS F Shaft-Mounted Helical Geared Motors SMS K Helical Bevel Geared Motors SMS S Helical Worm Geared Motors STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Kieselbronner Str. 12 75177 PFORZHEIM GERMANY Tel. +49 (0)7231 582-0 Fax +49 (0)7231 582-1000 email: mail@stoeber.de 24/h service hotline +49 (0)180 5 786323 Electronics Gear Units Inverters POSIDRIVE MDS 5000 Servo Inverters POSIDYN SDS 5000 Servo Inverters POSIDRIVE MDS 5000 Frequency Inverters POSIDRIVE FDS 5000 Frequency Inverters MGS Gear Units MGS C Helical Gear Units MGS F Shaft-Mounted Helical Gear Units MGS K Helical Bevel Gear Units MGS S Helical Worm Gear Units SMS Gear Units SMS C Helical Gear Units SMS F Shaft-Mounted Helical Gear Units SMS K Helical Bevel Gear Units SMS S Helical Worm Gear Units ServoFit Gear Units ServoFit P Planetary Gear Units ServoFit PA Planetary Gear Units ServoFit PH Planetary Gear Units ServoFit PHA Planetary Gear Units ServoFit PHQ Planetary Gear Units ServoFit PHQA Planetary Gear Units ServoFit KS Right-Angle Servo Gear Units Gear Units Combinations PKX Right-Angle Planetary Gear Units PK Right-Angle Planetary Gear Units PHKX Right-Angle Planetary Gear Units PHK Right-Angle Planetary Gear Units Motors AC Motors MGS System Motor Servo Motors EK Servo Motors ED Servo Motors