Lenord, Bauer MotionPLC GEL 8240 Manual

General information
The controllers have an integrated PLC, field bus systems
and multi-axis control with a maximum of 11 controlled
axes (max 3 with ± 10 V and max. 8 with CAN bus). 64 axes
altogether can be controlled via the CAN bus (without
feedback). Additional inputs and outputs permit several
CAN REMOTE I/Os with up to 64 inputs or outputs per
node and up to 64 node addresses.
The standard CoDeSys programming environment runs in
parallel with the multi-axis control and offers full
transparency for all parameters. Parametrization of all 7
axes is effected by a PC tool and offers menu-guidance for
comfortable setting of the usual parameters.
The standard programming environment in acc. with IEC
61131-3 includes a library of ready-made and powerful
technology functions for terminal programming and
automatic motion control.
Up to four different communication channels are available
with one interface enabling all conventional field bus
systems (PROFIBUS-DP, DeviceNet,...) to be used.
The field bus modules can be retrofitted or replaced at any
time without the need to modify the PLC program.
The MotionPLCs differ only in design (see below).
Characteristics of the MotionPLCs
GEL 824x
•- RAM: 1 MBytes altogether
- NVRAM: 8 kByte altogether
- Flash: 1 MByte altogether
- free memory space for PLC applications: 256 kBytes
•2 CAN bus interfaces
(servoconverter, CAN REMOTE I/O module)
•2 asynchronous interfaces
(one optionally RS 232 or RS 485 and RS 422)
•high noise immunity due to electrically isolated digital
and analog inputs and outputs
•3 encoder inputs (SSI, incremental, 5 V / 24 V)
•short projecting times due to ready-made functional
blocks and pre-configured inputs and outputs
Multi-function control
MotionPLC GEL 8240/8241
GEL 8245/8246
PLC and cam-plate functionality
Technical information version 04.05
Internet: http://www.lenord.de Tel.: [phone] Lenord, Bauer & Co. GmbH
E-Mail: [e-mail] Fax: [phone] Dohlenstrasse 32
46145 Oberhausen, Germany
▲GEL 8240/8241
▲GEL 8245/8246
0428LEG1428LEG5428LEG6428LEG
lenapyekdnaDCLseyseyonon
stupnilatigiD22032203
stuptuolatigiD51515151
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stuptuoeugolanA 3333
Device variants

DS22-824x(04.05)
2 Lenord +Bauer
GEL 8240/8241(built-in device)
Key panel and rear view
Key panel
Rear view
Function keys (key assignment depending on active window)
Numerical keys
Menu keys
Delete entered value
Abort entry/function and return to next higher menu level
Confirm entry
Selection keys
Scrolling keys
Using your own labelling strips, the inscription of the keys in groups and and
the company logo can be adapted to individual needs.

DS22-824x(04.05) Lenord +Bauer 3
GEL 8245/8246 (top hat rail assembly)
Front- and rear view
Front view
Rear view
Befestigungselemente für DIN-Hutschienen
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Befestigungselemente für DIN-Hutschienen
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DS22-824x(04.05)
4 Lenord +Bauer
Technical data
5428/0428LEG6428/1428LEG
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stupnignitnuoc elbanibmocyleerf)ISS,V42,V5(etulosbarolatnemercni3
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edistnorf 56PI 02PI
edisraer 02PI

DS22-824x(04.05) Lenord +Bauer 5
Terminal strip E1, E2, E3
(actual-value for axis 1, 2 or 3)
Pin layout
Terminal strip C2
(CAN bus)

DS22-824x(04.05)
6 Lenord +Bauer
Pin layout
Terminal strip I1, I2 , I3 and I4 (digital inputs)
Terminal input I5 (analogue input)
PT 100 inputs (-40 ... + 350 ° C)
Terminal input I6 (analogue input)
(0 ... + 20 mA or 0 ... + 10 V)
Terminal strip V
(supply 24 V)
Terminal strip Q1, Q2, Q3
(outputs for axis 1, 2 or 3)
Connector C1
(9-pole sub-D miniature connector)
GND (E)
GND
24 V DC
24 V DC (E)
UEUB
BE
grey area
valid only for GEL 8241/8246
UB= logical supply
UE= encoder supply

DS22-824x(04.05) Lenord +Bauer 7
PLC programming environment
IEC 1131-3 is an international standard for programming
languages adapted to stored-program control units. The
programming languages realized in CoDeSys are in
conformity with the requirements of the standard. They
can be mixed whenever needed and are partially
convertible.
PLC programming environment
Instruction list (IL)
An instruction list (IL) is composed of a sequence of
instructions. Each instruction begins in a new line and
consists of an operator and - depending on the type of
operation - of one or several operands separated by
commas.
Ladder diagram (LD)
The ladder diagram, too, is a graphics-oriented program-
ming language which is basically similar to an electrical
circuit.
It consists of a series of networks. A network is limited on
the right and left side of the plan by a vertical current path.
In between, there is a circuit comprising contacts,
inductances and connecting lines.
Function block diagram (FBD)
The function block diagram is another graphics-oriented
programming language. It is organized by lines and uses a
list of networks, each containing a structure representing
respectively a logical or an arithmetical expression, the
recall of a function block, a jump or a return instruction.
Structured text (ST)
The structured text is a series of instructions which can be
executed - as in the higher programming languages -
depending on a condition („IF..THEN..ELSE“) or iteratively
(WHILE..DO).
Sequential function chart (SFC)
The sequential function chart is a graphics-oriented
language to describe the sequential execution of different
actions in a program.
Continuous Function Chart Editor (CFC)
The essential difference with regard to the FBD is the free
arrangement of function blocks. CFC is a useful
enlargement of the IEC 1131-3 standard.

DS22-824x(04.05)
8 Lenord +Bauer
Operating software
Technological cam-plate function
•Curve modification without set-up times
•Reduced jerking during movements due to harmonic
and cycloid curve shapes
•Engagement and disengagement of the slave axis
•Virtual master function:
permits displacement of the curve drive
•Dynamic adaptation of curve shapes:
lengthening, shortening, etc.
BB2100K operating software (curve editor)
The BB2100K operating software can be used to define
the desired curve characteristics on a PC. The PC is
connected to the MotionCard via the serial interface. The
parameter editor for the servo-converter LD 2000 can also
be started out of this program. Other program
characteristics:
−System parameter editor
−Oscilloscope function
−Setting of range signals via mouse-click
−Individual programming due to free editing of program
texts
−Assistance with the analysis of curves (position,
speed, acceleration and torque)
−Graphics-aided editing of parameters for special
applications (e.g. rotating cutter and flying saw)
Available on our homepage www.lenord.de:
bb2100k.exe Curve editor BB2100K for operation and
monitoring of servo-converter LD 2000
with cam-plate module.
ld2000.exe Start-up software for servo-converter
LogiDrive LD 2000
within the scope of supply

DS22-824x(04.05) Lenord +Bauer 9
Application of adhesive on a car door
An glue dispenser with a three-axis portal equipped with servo drives and amplifiers is controlled by the MotionPLC in
such a way that the tool follows a trajectory in three dimensions which has been fixed beforehand by a small number of
essential tool center points in the teach-in mode.
Control components communication interlink
Application example
The PC tool for contour tracking (teach-in example)

DS22-824x(04.05)
10 Lenord +Bauer
Dimension GEL 8240/8241
Dimension GEL 8240/8241 (built-in device),
Control panel cut-out
Control panel cut-
out

DS22-824x(04.05) Lenord +Bauer 11
Dimension GEL 8245/8246
Dimension GEL 8245/8246
(top hat rail mounting)

DS22-824x(04.05)
12 Lenord +Bauer
0
1
5
6
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Type code
Order details
Mounting frame GK 2063
(for vertical cable outlet)
.on-elcitranoitpircsed0428142854286428
24098LEGtesgulpretnuocXX
34098LEGtesgulpretnuoc XX
2264GB ,edirbelbac41,01x3Mswercsxeh41
,srehsawkcoldehtoot41,slanimretgnihtrae2 XXXX
3264GB ,rehsaw6,4Mswercsxeh6
slanimretgnihtrae2,srehsawgnirps6 XX
4264GB 6x3Msneercsxeh6,stekcarbgninetsaf2
slanimretgnihtrae2,srehsawgnirps6 XX
.....001DLDC0428LEGtuobaMOR-DC XXXX
Accessories (optional)
GEL 89022 RS 232 C connection cable between
PC and MotionPLC
GEL 89130 fieldbus module (PROFIBUS-DP)
GEL 89131 fieldbus module (InterBus-S)
GEL 89132 fieldbus module (DeviceNet)
GK 2063 mounting frame:
6 hex screws M3 x 10
6 tooth lock washers
DS12-824X manual GEL 824X
Accessories (included in scope of supply)
Subject to technical modifications and typographical errors.
For the latest version please visit our web site : www.lenord.de.