Lenord, Bauer MotionLine GEL 8230 User manual

Subject to errors and technical change Operating Instructions
Edition: 2004-05
GEL 8230/8231
GEL 8235/8236
Multifunctional Control with
PLC Functionality in Accordance
with IEC 61131-3

Doc. no. DS12-823xB
Editions to date:
Edition Remarks
2002-05 First edition
valid for firmware version ≥3.02
2002-12 Adaptation to new firmware version 5.03
New: Auto scan and status display of the CAN buses – changes to various
default settings and extensions of the system parameters – implementation of
the LB2 protocol functions – integration of additional Field bus software modules
– analog actual value inputs – inclusion of type GEL 8231
2003-01 Adaptation to new firmware version 5.05
New: Axis positioning with ramps – parameter editor BB 8200
2003-07 Adaptation to new firmware version 5.09
New: Control of stepper motors – changes to various default settings and exten-
sions of the system parameters
2004-05 Adaptation to new firmware version 5.15 – incorporation of GEL 8235/8236
models
New: limit switch function (system parameters) – signal states of encoder inputs
– parameter editor 'Paraminator III' (replaces BB 8200) – Ethernet field bus
module
Issued by:
Lenord, Bauer & Co. GmbH
Dohlenstrasse 32
46145 Oberhausen •Germany
Tel: [phone] •Fax: [phone]
Internet: http://www.lenord.de •E-Mail: [email protected]

Lenord + Bauer Table of Contents
GEL 823x 3
Table of Contents
1 General........................................................................................................ 5
1.1 Safety instructions.........................................................................................5
1.2 Proper use.....................................................................................................5
1.3 Device models...............................................................................................6
1.4 Characteristics ..............................................................................................6
1.5 About this manual .........................................................................................8
2 Assembly .................................................................................................. 10
2.1 Scope of delivery.........................................................................................10
2.2 Mounting .....................................................................................................11
2.2.1 GEL 8230/8231.................................................................................11
2.2.2 GEL 8235/8236.................................................................................11
2.3 Removal......................................................................................................12
2.3.1 GEL 8230/8231.................................................................................12
2.3.2 GEL 8235/8236.................................................................................12
2.4 Fitting a module...........................................................................................12
3 Connections ............................................................................................. 14
3.1 Wiring Instructions.......................................................................................14
3.2 Connector coding ........................................................................................15
3.3 Overall view.................................................................................................16
3.4 Voltage supply (V).......................................................................................17
3.5 Serial interface (C1) ....................................................................................18
3.6 CAN bus (C2)..............................................................................................19
3.7 Encoder inputs (E1/2/3)...............................................................................20
3.8 Digital inputs (I1/2/3) ...................................................................................21
3.9 Analog input (I6)..........................................................................................22
3.10 PT100 analog inputs (I5, GEL 8231/8236 only) ..........................................22
3.11 Digital and analog outputs (Q1/2/3).............................................................23
4 Operation .................................................................................................. 24
4.1 The key pad ................................................................................................24
4.2 The display..................................................................................................25
4.3 The windows and menus.............................................................................26
4.3.1 Menu structure ..................................................................................26
4.3.2 Main window (axes) ..........................................................................27
4.3.3 Main window (I/O) .............................................................................28
4.3.4 Main menu ........................................................................................29
5 Commissioning ........................................................................................ 35
5.1 MotionController..........................................................................................35
5.2 Operating system update ............................................................................37
6 System parameters .................................................................................. 41
6.1 Explanations................................................................................................41
6.2 Factory defaults...........................................................................................42

Table of Contents Lenord + Bauer
4 GEL 823x
6.2.1 Reset parameter ...............................................................................42
6.2.2 Create parameter image ...................................................................42
6.3 Basic settings..............................................................................................42
6.3.1 General .............................................................................................43
6.3.2 PLC...................................................................................................43
6.3.3 Serial communication (RS 232 C, RS 422/485) ................................44
6.4 Analog inputs ..............................................................................................45
6.4.1 Analog input 1…7 (I61…I57).............................................................45
6.5 CAN bus......................................................................................................45
6.5.1 CAN 1, CAN 2...................................................................................45
6.6 Actual value inputs ......................................................................................48
6.6.1 Actual value input 1…6 .....................................................................48
6.7 Nominal value outputs.................................................................................53
6.7.1 Nominal value output 1…6................................................................53
6.8 Axis configuration........................................................................................57
6.8.1 Axis 1…6...........................................................................................57
6.9 Extension module........................................................................................69
6.9.1 DeviceNet .........................................................................................69
6.9.2 InterBus-S .........................................................................................69
6.9.3 PROFIBUS-DP..................................................................................69
6.9.4 Ethernet ............................................................................................70
6.10 Numerical index ..........................................................................................70
6.11 Application example ....................................................................................72
7 Technical data .......................................................................................... 75
7.1 Dimensional diagram...................................................................................75
7.1.1 GEL 8230/8231.................................................................................75
7.1.2 GEL 8235/8236.................................................................................76
7.2 Specifications ..............................................................................................76
Appendix 1: LB2 protocol............................................................................. 79
Appendix 2: "Paraminator III" parameter editor ........................................ 91
Index ............................................................................................................... 93

Lenord + Bauer 1.1 Safety instructions 1 General
GEL 823x 5
1 General
1.1 Safety instructions
 In order to make it easier for installation and for any possible
servicing, the operating software of the MotionController permits
online change of system parameters during running
operation, therefore
Be absolutely certain, when making use of this feature, that
no dangerous situations can occur for persons or for the
system itself in the system area, by ensuring that
− every parameter to be changed is conscientiously and
carefully checked for correctness and applicability and
for possible effects (above all for changes of velocities)
before transmission,
− adequate electrical safeguards, such as limit switches
and line breakers, are provided.
Please also observe the warning note on manually scanning
the CAN buses on page 32.
 Before carrying out a firmware update (see section 5.2, page
37), switch off the power circuit of all drives which are controlled
by the MotionController.
 The assembly and commissioning of the MotionController may
only be carried out by trained expert personnel, i.e. persons that
are familiar with the safety concepts of electrical and automatic
control techniques. (On request, product training is offered by
LENORD+BAUER.)
1.2 Proper use
The MotionController is intended exclusively for the control of
drives in the industrial sector. If you should make use of it in
typical trade and residential zones you have to take additional
measures like filters, HF-screened switching cabinets etc.
First and foremost it is a PLC, with which programs written by
yourself or control programs supplied with it can be executed. In
addition it can be used as an operator terminal for the control of
operating states and for support during commissioning.
The data and instructions given in this manual must be
complied with.

1 General 1.3 Device models Lenord + Bauer
6 GEL 823x
1.3 Device models
The MotionController device models described here only differ
in their hardware equipment:
GEL 8230: Enclosure with display unit and keypad
for installation into a control panel.
GEL 8231: Same as above, however, with:
+ 2 analog inputs (terminal block I6),
+ 4 analog inputs for PT100 resistors
(terminal block I5),
+ 8 digital inputs (terminal block I4).
7 8 9 0
4 3 6
E S C
1 2 3
F 2 F 3 F 4 F 5
M 1
M 2
M 3
M 4
E n t e r
F 1
L01 HAUPTFENSTER (ACHSEN) MENÜ
*
1. Position Achse 1: [1 | 9870 |
|
2. Position Achse 2: [2 > 12345 |
|
3. Position Achse 3: [3 < 6789 |
[E/A [AUF
[AB
GEL 8235: Enclosure without control and display
elements for DIN top-hat rail or wall
installation and accommodation within a
switch cabinet.
GEL 8236: Same as above, however; with addi-
tional inputs as provided for GEL 8231.
The operating and observing functions described in the following only
apply to the GEL 8230/8231 MotionControllers. For the basic configura-
tion of the GEL 8235/8236 models the PC parameter editor must be used
(cf. Appendix 2).
1.4 Characteristics
The scope of the display can be subdivided into two categories:
 Two so called main windows provide the following
information:
– Actual positions of up to 6 axes and as well as current data
of one axis in a lower level (→section 4.3.2)
– Signal conditions on the input and output terminals
As part of this feature, designed as an aid for commis-
sioning, is the possibility of operating the drive manually
(→section 4.3.3).
 Access is made to the following functions via a main menu
(→section 4.3.4):
– Device information
– System parameters with which the MotionController is
user-specifically configured and which provide the
necessary data for several function blocks (see below) in a
PLC program

Lenord + Bauer 1.4 Characteristics 1 General
GEL 823x 7
Besides the routines for the user interface, the MotionControl-
ler’s operating system also contains routines for the control and
feedback control of up to six drives. These routines can be
accessed by a PLC program that, by the use of the program-
ming interface CoDeSys, can be developed according to the
user’s needs. For this purpose an extensive library with function
blocks is made available, which are described separately (see
section 5.1, page 35 also).
Besides the programming interface CoDeSys and the diverse
libraries contained in the delivery of the MotionController, there
are also example programs which illustrate the functionality of
the MotionController and which can be adapted to the operating
requirements. Besides this they are a source of useful help for
designing your own PLC programs.
Apart from this, LENORD+BAUER will be offering ready-made PLC
programs for various applications (e.g. jog sentence program-
ming) in the foreseeable future. Please enquire
The Motion Controller contains 6 actual value inputs, nominal
value outputs and axis controls which can be configured
independently from each other and freely assigned to each
other. The following block diagram illustrates the principle:
[ 1 0 0 ]
[ 6 0 6 ]
0
1
2
3
4
5
6
[ 1 0 1 ] . . . [ 0 1 4 ]
[ 1 0 2 ] . . . [ 0 1 5 ]
[ 1 0 3 ] . . . [ 0 1 6 ]
[ 1 0 4 ] . . . [ 0 1 7 ]
[ 1 0 5 ] . . . [ 0 1 8 ]
0
1
2
3
4
5
6
7
8
0
1
2
3
[ 6 0 0 ]
0
1
2
3
4
5
6
[ 4 5 1 ] , [ 0 2 1 ]
[ 6 1 2 ]
[ 4 5 0 ]
0
1
2
3
4
[ 0 2 0 ][ 0 2 6 ]
[ 6 0 1 ] , [ 0 2 7 ]
[ 4 5 2 ] , [ 0 2 2 ]
[ 4 5 3 ] , [ 0 2 3 ]
[ 4 5 4 ] , [ 0 2 4 ]
[ 4 5 5 ] , [ 0 2 5 ]
[ 6 0 2 ] , [ 0 2 8 ]
[ 6 0 3 ] , [ 0 2 9 ]
[ 6 0 4 ] , [ 0 3 0 ]
[ 0 0 5 ] , [ 0 3 1 ]
[ 6 0 7 ] [ 0 1 3 ]
[ 6 0 8 ] [ 6 1 4 ]
[ 6 0 9 ] [ 6 1 5 ]
[ 6 1 0 ] [ 0 1 6 ]
[ 6 1 1 ] [ 6 1 7 ]
2
[ 1 0 7 ]
[ 1 8 4 ]
[ 1 9 1 ]
[ 0 1 3 ]
3
4
5
6
2
3
4
5
6
A x i s 1A c t . v a u e i n p u t 1 N o m . v a u e o u t p u t 1
n o n e
I n c r e m .
SSI
C A N b u s
V i r t u a 1
V i r t u a 2
A n a o g
A c t . v a u e i n p u t 2
A c t . v a u e i n p u t 3
A c t . v a u e i n p u t 4
A c t . v a u e i n p u t 5
A c t . v a u e i n p u t 6
n o n e
C o n t r o
S i g n a s
R a m p s
s
n o m .
, v
n o m .
V i r t u a
N o m . v a u e o u t p u t 2
n o n e
A n a o g
C A N b u s
S i g n a s
S t e p . m o t .
A x i s 2
N o m . v a u e o u t p u t 3
N o m . v a u e o u t p u t 4
N o m . v a u e o u t p u t 5
N o m . v a u e o u t p u t 6
A x i s 3
A x i s 4
A x i s 5
A x i s 6
A c t . v a l u e i n p u t s A x i s c o n f i g u r a t i o n N o m . v a l u e o u t p u t s
S t e p p e r m o t o r
Explanations:
• Information in square brackets refers to the main system
parameters for the corresponding blocks (see the relevant
comment on page 9).
• For the actual value inputs/axes/nominal value outputs nos.
2…6 the same contents apply in principle as for no. 1;

1 General 1.5 About this manual Lenord + Bauer
8 GEL 823x
differences occur with several factory settings and adjustable
characteristics.
• Function elements with grey background are, by default (from
the factory), de-activated.
1.5 About this manual
This document as well as any additional documentation are
only available in electronic form as PDF files on the setup CD
(*.pdf, see also section 2.1) under "manuals" in the respective
device folder. Hard copies are available for some fee.
Amendments or extensions which could not yet be included in
the manual are described in the "readme.txt" file" in the
documentation folder.
The manual provides information on the installation and
operation of the MotionControllers GEL 823x. It also deals, in
brief, with the system parameters, by means of which you can
configure the device and the controlled axes, and with the PC
parameter editor provided on CD and the local serial LB2
protocol (→appendices).
Descriptions of a PLC program that has possibly been pre-
installed and of the library functions for the development of user
programs are not handled here (separate manual under con-
struction; the commentary texts in the declaration part of the
individual function blocks provide some information).
Symbols and designations used:
Paragraphs marked in this way provide important additional
information to the subject.
Paragraphs marked in this way contain statements that are
important for operation according to instructions.
This symbol points out critical situations or possible damage to
the installation or property.
User
measuring
unit
Position or velocity values for an axis are given in 'user meas-
uring units' or 'user measuring units per second'. The user-
specific actual position is derived from the measuring value
provided by the actual value input according to the following
formula:
A = XHN
m
m
cR
d
n−+⋅⋅⋅
A: Actual value in user measuring units (displayed value)
R: Reading from the actual value input (incremental count or
absolute value of an encoder)

Lenord + Bauer 1.5 About this manual 1 General
GEL 823x 9
c: Factor of the edge evaluation (4 or 2 with incremental
encoders [adjustable], else 1)
m
n,d: Multiplier (numerator, denominator) [adjustable] ⇒resolution
N: Negation (1/-1) [adjustable]
H: Home offset [adjustable]
X: Internal offset (will be adjusted when the actual value changes
event-controlled, e.g. when calibrating the axis: calibration
value →actual value)
In addition, the display and input format for the position and
velocity values my be adjusted by a programmable decimal
point.
Example: incremental encoder with 2 counting tracks and
10,000 pulses per revolution (four-edge evaluation ⇒40,000
counting pulses per revolution); required is a counting range of
360.00° per revolution. This yields the result:
Multiplier = 36000/40000 = 0.900;
Decimal point = "X.XX" for the required display resolution of
1/100.
All position inputs are then to be made in the user measuring
unit '°', if necessary with two decimal digits (velocity in '° /s').
[123] A three digits number in square brackets designates a program-
mable system parameter, described in chapter 6, numerical
index on page 70.

2 Assembly 2.1 Scope of delivery Lenord + Bauer
10 GEL 823x
2 Assembly
2.1 Scope of delivery
• MotionController GEL 823x
• Mounting kit with 6 nuts, spring washers and plain washers
as well as 2 earth clamps (order no. BG 4623)
• Set of mating connectors (order no. GEL 89042 for the
MotionController GEL 8230/8235, or GEL 89043 for the
MotionController GEL 8231/8236)
• Set of cable clips (order no. BG 4622)
• Installation CD containing the following (may vary):
♦ CoDeSys (PLC programming environment)
− Set up
− Libraries
− Documentation (electronic manuals in various
language versions as PDF files)
♦ Updating software LingiMon (tool; see page 37)
♦ MC8230 operating system, latest version (for download-
ing into the MotionController) and this manual in electro-
nic form as a PDF file as well as configuration files and
manuals for the extension modules
♦ Acrobat Reader (tool)
Self-extracting installation program; the PDF files
supplied can be read with the Acrobat Reader
(Freeware from ADOBE SYSTEMS INCORPORATED)
The CD has an auto start program that offers information and
various selection alternatives in a dialog window after
inserting the CD, providing the auto start function is activated
in the PC. If the CD does not start up automatically – but this
is required so – an appropriate setting must be made in the
system control; Windows Help provides the necessary infor-
mation for this. The same effect as auto start is obtained by
manually calling the program 'start.exe' in the CD root direc-
tory.

Lenord + Bauer 2.2 Mounting 2 Assembly
GEL 823x 11
2.2 Mounting
2.2.1 GEL 8230/8231
Control
panel cut-
out
225
175
215
165 55
55
6 x 4 , 3
Æ
112,5
Dimensions in mm
 Make the control panel cut-out in the required position in
accordance with the dimensional drawing above
 Set the device in the cut-out
 Fasten the device with 6 M4 nuts, spring washers and plain
washers
 Make the electrical connections while observing the following
instructions
2.2.2 GEL 8235/8236
These devices are factory-prepared for DIN top-hat rail
installation. You can use two clips already fitted to the base
plate to install the device either vertically or horizontally: Hang
the MotionController into the top of the DIN top-hat rail and click
it in at the bottom.
To fit the device to a mounting plate (wall installation) it comes
with corresponding brackets and screws (refer to the
dimensional drawing in section 7.1.2).

2 Assembly 2.3 Removal Lenord + Bauer
12 GEL 823x
2.3 Removal
2.3.1 GEL 8230/8231
 For a short-term removal of the MotionController loosen the
four knurled thumb screws in the cover (they remain in the
top and cannot get lost) and withdraw all connectors
After refitting the cover press on the knurled thumb
screws and then tighten them up
 Remove the 6 nuts on the M4 threaded bolts of the Motion-
Controller and remove the device
2.3.2 GEL 8235/8236
In case of DIN top-hat rail installation, pull off the device against
the mechanical resistance at the bottom and remove it.
2.4 Fitting a module
The Motion Controller can be equipped with a functional module
(Field bus) later. Fitting is done in accordance with the following
illustration (example for CANopen module).
Please make sure that all pins of the module are sitting
correctly in the corresponding housing socket strip.
The connections and other information about the module can
be found in a separate document (also in electronic form on the
CD supplied with it under GEL8230\Epansion modules).
The extension modules are addressed via a PLC program by
means of CoDeSys function blocks made available. The basic
configuration is made via various system parameters (→section
6.9).

Lenord + Bauer 2.4 Fitting a module 2 Assembly
GEL 823x 13
Fitting a module

3 Connections 3.1 Wiring Instructions Lenord + Bauer
14 GEL 823x
3 Connections
3.1 Wiring Instructions
To improve the electromagnetic environment (EMC) please
observe the following installation advice:
 Earth the device correctly: short connections via cable lug
contacts (6.3 mm) housing/cover →cubicle (wall) as well as
housing/cover themselves (use a low inductance earthing
strap or flat band conductor)
 Earth connector cable
at the device: uncover
the cable screen at a
suitable point and
clamp it under a cable
clip to the cover (see
illustration)
 Use metallic sub D
mating connectors
and clamp the cable
screen properly
between the
connector halves
 Tighten the fastening
screws of the Sub D
mating connectors
firmly in order to
guarantee a secure earth contact (it is recommended that this
cable is earthed as well, as shown in the diagram)
 For good electrical contact and mechanical support of the
cable in the terminals, as well as for a safe isolation of the
bunched conductors used, provide isolated wire end ferrules
in accordance with DIN 46228 part 4 that are captively joined
to the conductors with the aid of special crimp pliers. If two or
more thinner cables are to be connected to one terminal, the
use of twin wire end ferrules is advantageous. The maximum
connecting cross-section is 1.5 mm² (incl. ferrule).
Use a screwdriver with a blade of 0.4×2.5 mm for tightening
the terminal screws (M2).
 Keep all unscreened conductors as short as possible.
 Lay out the screens with large surfaces at both cable ends
 The power supply used must correspond to the type of
installation class 0 or class 1 in accordance with item B.3 of
EN61000-4-5 from 1995.
optional

Lenord + Bauer 3.2 Connector coding 3 Connections
GEL 823x 15
 Provide spark suppression for inductive loads (relays, contac-
tors) on the digital outputs (free-wheel diodes or RC-networks
in parallel and in direct proximity to the coils)
 Lay out signal and control cables separately from power
cables.
 If there are potential differences between the machine and
electronic earthing connections, or if they may occur, suitable
measures have to be provided to ensure that no circulating
currents can flow in the cable screen (e.g., lay potential
equalization cables with large cross-section or use cable with
double screening; in doing so, tie the screen time to one side
only in each case).
3.2 Connector coding
1 + 1 - 2 + 2 -
C
C C A A B B N N
5 V 2 4 V
E
C C A A B B N N
E
5 V 2 4 V
C C A A B B N N
E
5 V 2 4 V
U
E
U
B
E
0 1 2 3 4
A - A + U
S
Q 1
0 1 2 3 4
A -
A + U
S
Q 2
0 1 2 3 4
A -
A + U
S
Q 3
5 4 3 2 1 0
I 1
7 6 5 4 3 2 1 0
I 2
7 6 5 4 3 2 1 0
I 3
1 +
1 -
E 1 E 2 E 3
I 6
Q 1 Q 2 Q 3
I 1
I 2
I 3
V
C 2
7 6 5 4 3 2 1 0
I 5
I 4
7 + 7 -
6 + 6 - 5 + 5 - 4 +
4 - 3 +
3 -
2 +
2 -
1 +
1 -
G E L 8 2 3 1 / 8 2 3 6
S o c k e t P l u g

3 Connections 3.3 Overall view Lenord + Bauer
16 GEL 823x
3.3 Overall view
1 2
1 2
0 1 2 3 4
1 + 1 - 2 + 2 -
U
E
U
B
1
2345
6789
5 4 3 2 1 0
7 6 5 4 3 2 1 07 6 5 4 3 2 1 0
C C A A B B N N C C A A B B N N C C A A B B N N
N C N C N C N C
5 V 2 4 V
1 +
1 -
E
C
0 1 2 3 4
A -
A + U
S
0 1 2 3 4
A -
A + U
S
A - A + U
S
EEE
5 V 2 4 V 5 V 2 4 V
I 1I 2I 3
Q 1 Q 2 Q 3
I 1
I 2
I 3
E 1 E 2 E 3 C 2
I 6
V
Q 1 Q 2 Q 3
G N D ( I 1 )
I 1 . 0
I 1 . 1
I 1 . 2
I 1 . 3
I 1 . 4
I 1 . 5
Ana og1_In-
Ana og1_In+
G N D ( Q 1 )
Q 1 0 -
Q 1 0 +
2 4 V D C I n
Q 1 . 0 Q 1 . 1 Q 1 . 2 Q 1 . 3 Q 1 . 4
C 1
G N D ( E )
G N D
2 4 V D C
2 4 V D C ( E )
G N D ( C )
C A N 1 _ H C A N 1 _ L C A N 2 _ H C A N 2 _ L
T x -
R x -
T x +
R x +
G N D ( C )
T x D R x D
G N D ( I 2 )
I 2 . 0
I 2 . 1
I 2 . 2
I 2 . 3
I 2 . 4
I 2 . 5
I 2 . 6
I 2 . 7
G N D ( I 3 )
I 3 . 0
I 3 . 1
I 3 . 2
I 3 . 3
I 3 . 4
I 3 . 5
I 3 . 6
I 3 . 7
T x D R x D
G N D ( Q 2 )
Q 2 0 -
Q 2 0 +
2 4 V D C I n
Q 2 . 0 Q 2 . 1 Q 2 . 2 Q 2 . 3 Q 2 . 4
G N D ( Q 3 )
Q 3 0 -
Q 3 0 +
2 4 V D C I n
Q 3 . 0 Q 3 . 1 Q 3 . 2 Q 3 . 3 Q 3 . 4
C O M 1
C O M 1
R S 4 2 2 / 4 8 5
C O M 2
R S 2 3 2 C
G N D ( E )
+ 5 V D C O u t
+ 2 4 V D C O u t
P W M _ 1 + / C L K _ S S I _ 1 +
P W M _ 1 - / C L K _ S S I _ 1 -
I N C R _ 1 . 1 + / D a t a _ S S I _ 1 +
I N C R _ 1 . 1 - / D a t a _ S S I _ 1 -
I N C R _ 1 . 2 +
I N C R _ 1 . 2 -
I N C R _ 1 . N + I N C R _ 1 . N - G N D ( E )
+ 5 V D C O u t
+ 2 4 V D C O u t
P W M _ 2 + / C L K _ S S I _ 2 +
P W M _ 2 - / C L K _ S S I _ 2 -
I N C R _ 2 . 1 + / D a t a _ S S I _ 2 +
I N C R _ 2 . 1 - / D a t a _ S S I _ 2 -
I N C R _ 2 . 2 +
I N C R _ 2 . 2 -
I N C R _ 2 . N + I N C R _ 2 . N - G N D ( E )
+ 5 V D C O u t
+ 2 4 V D C O u t
P W M _ 3 + / C L K _ S S I _ 3 +
P W M _ 3 - / C L K _ S S I _ 3 -
I N C R _ 3 . 1 + / D a t a _ S S I _ 3 +
I N C R _ 3 . 1 - / D a t a _ S S I _ 3 -
I N C R _ 3 . 2 +
I N C R _ 3 . 2 -
I N C R _ 3 . N + I N C R _ 3 . N -
7 6 5 4 3 2 1 0
I 4
G N D ( I 4 )
I 4 . 0
I 4 . 1
I 4 . 2
I 4 . 3
I 4 . 4
I 4 . 5
I 4 . 6
I 4 . 7
I 4
I 5
3 +
3 -
2 +
2 -
1 +
1 -
I 6
A n a o g 1 _ I n -
A n a o g 1 _ I n +
A n a o g 2 _ I n -
A n a o g 2 _ I n +
A n a o g 3 _ I n -
A n a o g 3 _ I n +
I 4
I 5
7 +
7 -
6 +
6 - 5 +
5 -
4 +
4 -
Ana og4_In-
Ana og4_In+
Ana og5_In-
Ana og5_In+
Ana og6_In-
Ana og6_In+
Ana og7_In-
Ana og7_In+
G E L 8 2 3 1 / 8 2 3 6 ( )
G E L 8 2 3 1 / 8 2 3 6 :
PLC Run

Lenord + Bauer 3.4 Voltage supply (V) 3 Connections
GEL 823x 17
3.4 Voltage supply (V)
U
E
U
B
E
Both the voltage for the internal circuits of the MotionController
(UB) as well for the supply of the encoders connected (UE) are
supplied via terminal block V
V
2 4 V D C ( E )
U
E
E1+2+3
E
U
B
2 4 V D C
G N D ( E )
GND
19 - 30 VDC
19 - 30 VDC
24 V
5 V
E
Power supply
internal
£
0.6 A
1.35 A, 30 V
1.35 A, 30 V
Encoder
Encoder
MotionController MotionController
* An older version exists where the 5 V encoder supply on ter-
minals E1/2/3 is not generated from the 24 V MotionControl-
ler supply but from the 24 V encoder supply (sketched in
dashed lines). In this case 24 V must be supplied to the
terminals UE/⊥Ein order to get the desired 5 V power supply
(see also the following note).
** If only one single voltage source is to be used for supplying
the MotionController and the encoder(s) connect the ter-
minals UE/⊥and UB/⊥as sketched in dashed lines.

3 Connections 3.5 Serial interface (C1) Lenord + Bauer
18 GEL 823x
3.5 Serial interface (C1)
Two independent serial interfaces are available on connector
C1: COM 1 and COM 2
COM 2 is designed as a pure RS 232 C interface.
COM 1 can be used either as RS 232 C or RS 422/485.
With the RS 422/485 the internal terminating
resistor must be switched in at the first and
the last device on the bus with the DIP
switches next to the connector: both switches
in the ON position. The resulting terminating resistance is
approx. 125 Ω.
2/1
3/4
5
C1
R x D
T x D
GND
R d
W r
(C)
(C)
R x D
T x D
GND
R x +
R x -
T x +
T x -
GND
(C)
(C)
+U
(C)
+
(C)
(C)
(C)
+U
(C)
(C)
15k
15k
475
475
267
1
2
(3) 2
(2) 3
(7) 5
(C)
6
8
7
9
5
T x +
T x -
R x +
R x -
GND
RS 232 C
RS 422 / RS 485
COM
1
/ COM
2
COM
1
RS 232 C
RS 422/485
Plug (25-) 9-pin
Peripherals
(PC, etc.)
Peripherals
* Connect pins for a RS 485
The serial interface has the same ground potential as the CAN
buses (connector C2).
1 2
Termination
On
Off

Lenord + Bauer 3.6 CAN bus (C2) 3 Connections
GEL 823x 19
3.6 CAN bus (C2)
1+ 1- 2+ 2-
C
Two CAN bus interfaces are available on connector C2: CAN 1
and CAN 2.
With each of the first and last device on
the bus the terminating resistor for the
associated CAN bus must be switched in
by the DIP switch next to the connector:
switch in position ON. The terminating
resistance is approx. 120 Ω.
C A N x _ H
C A N x _ L
G N D ( C )
1+/2+
1-/2-
C2
(C)
(C)
C A N
C A N
GND
CAN1, CAN2
120
C
121
1/2
CAN Client
The CAN buses have the same ground potential as the other
serial interfaces (connector C1).
CAN 2 is used solely for the control of servo amplifiers of type
LD 2000.
* For some (older) devices there is a second variant (DIP
switch "upside down"):
1 2
1+ 1- 2+ 2-
C
C2E3
CAN2 CAN1
Termination
ON
OFF
1 2
1+ 1- 2+ 2-
C
C2E3
CAN1 CAN2
Termination
ON
OFF
*

3 Connections 3.7 Encoder inputs (E1/2/3) Lenord + Bauer
20 GEL 823x
3.7 Encoder inputs (E1/2/3)
C C A A B B N N
E5V
24V
SSI or incremental encoders can be connected to the
terminal blocks E1…3 .
Here, 5 V and 24 V are available as supply voltage for the
encoders (see also terminal block V). The maximum load is
– for 24 V: 300 mA per encoder
– for 5 V: 200 mA per encoder, 0.6 A in total
All encoder inputs use the same ground potential.
C L K _ S S I _ x + /
P W M _ x +
G N D ( E )
(V)
(E)
(E)
24 V
DC
5 V
DC
267
5V6
2k
(E)
D A T A _ S S I _ x - /
I N C R _ x . 1 -
I N C R _ x . 2 +
I N C R _ x . 2 -
I N C R _ x . N +
I N C R _ x . N -
+ 5 V D C o t
+ 2 4 V D C o t
C l o c k
C l o c k
D a t a
D a t a
(E)
(E)
(E)
+ 5 / 2 4 V
0 V
C
C
E1/2/3
A
A
B
B
N
N
24V
5V
E
+ 5 / 2 4 V
0 V
C L K _ S S I _ x - /
P W M _ x -
D A T A _ S S I _ x + /
I N C R _ x . 1 +
max. 0.6 A
SSI encoder
Incremental
encoder
Z e r o ( R e f . )
Z e r o ( R e f . )
T r a c k 1 /
C o n t
T r a c k 1 /
C o n t
T r a c k 2 /
D i r e c t i o n
T r a c k 2 /
D i r e c t i o n
• Inverse inputs (INCR_x-):
If the incremental encoders used have no inverse signal output,
the inverse inputs must be connected to ground with the 5V
version. For the 24V version they m u s t be let open.
• Outputs for pulse width modulation (PWM_x, terminal C):
These terminals can be addressed from a PLC program by
means of CoDeSys function blocks made available, e.g. for
control of stepper motors (configuration also via the operating
system: see section 6.7.1.4 on page 57).