Lenze L-force 8400 Series Mounting instructions

L
Ä.Oiøä 13467299
8400
Inverter
"Position Sequencer" technology application
for 8400 TopLine C _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Software manual EN

Contents
2Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3
1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5
1.4 Definition of notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
2 Features of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
2.1 Functional overview _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
2.2 Application ranges _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
2.3 System requirements _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
2.4 Basics of positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
2.5 Positioning sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
2.6 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
2.7 Parameter setting in the FB Editor view _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
2.8 Pre-assignment of the I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3 Short setup of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
3.1 Preconditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
3.2 Step 1: Load "Position Sequencer" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
3.3.1 Pre-assignment of the process data input words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
3.3.2 Pre-assignment of the process data output words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
3.4 Step 3: Set commissioning parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
3.5 Step 4: create the positioning program (sequence table) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.6 Step 5: Go online and transfer parameter set to the inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.7 Step 6: Enable inverter and start positioning program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.8 Step 7 (optional): Set optimisation parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
4 Detailed functions of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
4.1 Signal flow of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
4.2 Basic drive functions (MCK) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.2.1 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.2.2 Manual jog _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
4.2.3 Positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
4.2.4 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
4.3 Speed/position output via axis bus for a slave drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
4.4 Monitoring functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
4.4.1 Following error monitoring system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
4.4.2 Limit position monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
4.4.2.1 Hardware limit switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
4.4.2.2 Software limit positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
4.4.3 Error and status messages of the positioning sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
5 Appendix: Action types for the positioning sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
5.1 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
5.2 Positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
5.3 Branching _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
5.4 Variable branch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
5.5 Switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50
5.6 Counter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
5.7 Count _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
5.8 Wait _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
5.9 Standby _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
5.10 End _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
Contents

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 3
1 About this documentation
1.1 Document history
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation
This documentation described the software-based solution of a task. The transferability of the
described solution to the respective application case needs to be checked by the user. If required, the
user has to adapt the solution accordingly. Thus, physical aspects as e.g. drive dimensioning is not
part of this documentation.
Target group
This documentation addresses to all persons
• who want to use the "Position Sequencer" technology application for the 8400 TopLine inverter,
and
• who are familiar with handling the device and the »Engineer« software.
Validity
The information in this documentation are valid for the following technology applications:
Screenshots/application examples
All screenshots provided in this documentation are application examples. Depending on the
software version of the controller and the version of the installed »Engineer« software, the
screenshots in this documentation may differ from the representation in the »Engineer«.
Tip!
Information and tools for Lenze products are provided in the download area at
http://www.lenze.com Download
1.1 Document history
Danger!
The controller is a source of danger which may lead to death or severe injury of persons.
To protect yourself and others against these dangers, observe the safety instructions
before switching on the controller.
Please read the safety instructions provided in the 8400 mounting instructions and in
the 8400 hardware manual. Both documents are supplied with the controller.
Technology application from version
Position Sequencer 2.0
Version Description
1.0 07/2014 TD05 First edition

1 About this documentation
1.2 Conventions used
4Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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1.2 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Writing Examples/notes
Spelling of numbers
Decimal separator Point The decimal point is generally used.
Example: 1234.56
Hexadecimal number 0x For hexadecimal numbers, the prefix "0x" is used.
Example: 0x60F4
Binary number 0b For binary numbers, the prefix "0b" is used.
Example: 0b00010111
Text
Version information Blue text colour All information that only applies to a certain controller
software version or higher is identified accordingly in this
documentation.
Example: This function extension is available from software
version V3.0!
Program name » « The Lenze »Engineer« PC software ...
Window italics The Message window ... / The Options dialog box...
Variable name By setting bEnable to TRUE...
Control element bold The OK button... / The Copy command... / The Properties
tab... / The Name input field...
Sequence of menu
commands
If the execution of a function requires several commands,
the individual commands are separated by an arrow: Select
FileOpen to...
Shortcut <bold> Press <F1> to open the online help.
If a command requires a combination of keys, a "+" is placed
between the key symbols:
Use <Shift>+<ESC> to...
Hyperlink underlined Optically highlighted reference to another topic. In this
documentation activated by mouse-click.
Icons
Page reference (4) Optically highlighted reference to another page. In this
documentation activated by mouse-click.
Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 5
1 About this documentation
1.3 Terminology used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.3 Terminology used
Term Meaning
Engineering Tools Software solutions for simple engineering at all stages
»EASY Navigator« – Ensures easy operator guidance
• All practical Lenze engineering tools at a glance
• Tools can be selected quickly
• Clearly arranged, simplifying the engineering process from the start
»EASY Starter« – Simple tool for service technicians
• Especially developed for the commissioning and maintenance of Lenze
devices
• Graphical user interface with few buttons
• Simple online diagnostics, parameterisation and commissioning
• No risk of accidentally changing the application
• Ready applications can be loaded to the device
»Engineer« – Multi-device engineering
• For all products from our L-force portfolio
• Practice-oriented user interface
• Easy handling due to graphical user interfaces
• Suitable for all project stages (configuration, commissioning, production)
• Parameter setting and configuration
Code Parameter used for controller parameterisation or monitoring.
The term is usually called "index".
Subcode If a code contains several parameters, these are stored in "subcodes".
This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").
The term is usually called "subindex".
Lenze setting This setting is the default factory setting of the device.
FB Editor Abbreviation for function block editor. Graphic interconnection tool which is available in the
»Engineer« for function block interconnections on the FB Editor.
Function block General designation of a function block for free interconnection in the FB Editor.
Ein Funktionsbaustein (kurz: "FB") kann mit einer integrierten Schaltung verglichen werden,
die eine bestimmte Steuerungslogik enthält und bei der Ausführung einen oder mehrere
Werte liefert.
Example: "L_Arithmetic_1" (FB for arithmetic operations)
Many function blocks are available several times (e.g. L_And_1, L_And_2, and L_And_3).
System block In the function block editor of the »Engineer«, system blocks provide interfaces to basic
functions, "free codes", and to the hardware of the inverter (e.g. to the digital inputs). Each
system block is available only once.
Port block Block for implementing the process data transfer via a fieldbus
LP Abbreviation for Lenze Port block
Example: "LP_CanIn1" (CAN1 port block)
LS Abbreviation for Lenze System block
Example: "LS_DigitalInput" (system block for digital input signals)
MCI Abbreviation for Motionbus Communication Interface (fieldbus interface)
The Inverter Drives 8400 can accommodate plug-in communication modules and can
therefore take part in the data transfer of an existing fieldbus system.
Technology
application
A technology application is a drive solution based on the experience and know-how of Lenze
in which function blocks interconnected to a signal flow form the basis for implementing
typical drive tasks.
USB diagnostic
adapter
The USB diagnostic adapter is used for the operation, parameterisation, and diagnostics of
the controller. Data are exchanged between the PC (USB connection) and the controller
(diagnostic interface on the front) via the diagnostic adapter. Order designation: E94AZCUS

1 About this documentation
1.4 Definition of notes used
6Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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1.4 Definition of notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
Application notes
Pictograph and signal word!
(characterise the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.
Stop! Danger of property damage
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for simple handling

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 7
2 Features of the technology application
2.1 Functional overview
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2 Features of the technology application
With the "Position Sequencer" technology application, the drive can execute parameterisable travel
profiles. The program flow is defined on the basis of a sequence table.
2.1 Functional overview
• Sequence control for several successive positioning steps with pause and abort functions and
different auxiliary functions (e.g. branching, counting, waiting)
• Positioning in different positioning modes
• Point-to-point positioning
• Touch probe positioning (residual path positioning)
• Profile linkage with velocity changeover (overchange)
• Homing (homing/reference setting)
• For a homing process, different modes are provided.
• Profile data management
• Support of S-profiles (jerk limitation)
• Separate setting for acceleration and deceleration
• Use of the state machine of the Motion Control Kernel (MCK) and the following basic drive
functions:
•Homing
•Manualjog
• Positioning
• Holding brake control
• Limit position monitoring (hardware limit switches and software limit positions)
• Following error monitoring system
• Control/status signals optionally via digital terminals and fieldbus interface (MCI)
Tip!
By means of the "Position Sequencer" technology application, the 8400 TopLine can also be
used as master for slave drives with the "Electrical Shaft Slave" or "Position Follower"
technology application.
2.2 Application ranges
• Transport devices
•Rotarytables
•Feeddrives
• Dosing units
•Hoists
• ...

2 Features of the technology application
2.3 System requirements
8Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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2.3 System requirements
The technology application was created with the L-force »Engineer« V2.20 and can only be used
with the versions V2.20 or higher.
Software
Hardware
2.4 Basics of positioning
Positioning means that a workpiece/tool or material is moved from a starting position to a
defined destination :
To carry out positioning, a travel profile has to be stored in the drive controller for at least the
following profile parameter:
Product Order designation from version
L-force »Engineer« HighLevel ESPEV-EHNNN 2.20
Product Order designation from hardware
version
from software
version
Inverter Drives 8400 TopLine C E84AVTCxxxxx VD 13.00
Icon Profile parameter
Position
Target position or distance to be traversed.
Velocity
Maximum speed during the positioning process.
Acceleration
Maximum acceleration during the positioning process.
Delay
Maximum deceleration during the positioning process.

v [unit/s]
t [s]
A
B
C D
A
B
C
D

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 9
2 Features of the technology application
2.5 Positioning sequence control
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
• A profile describes a motion task that can be converted into a rotary motion of the motor shaft
by the Motion Control Kernel in the "Positioning" operating mode.
• A positioning process can be composed of a large number of profiles that are executed in a fixed
manner.
• For the 8400 TopLine inverter, 15 different profiles can be parameterised.
2.5 Positioning sequence control
For the positioning sequence control, the L_Sequencer_1 FB is used. This FB processes a positioning
program on the basis of a sequence table (also referred to as "sequencer"), which can contain up to
100 references to so-called "Actions".
• An action comprises a clear functionality which is described with a few parameters.
• Different action types are available which serve to realise, for instance, program branching,
switching operation, waiting times and counters.
• A certain number of actions are available from every action type which can be parameterised
individually.
• An action can be called from several positions in the sequence table.
• After an action has been processed, the action entered in the sequence step of the sequence
table is automatically processed unless a branching causes a jump to another step in the
sequence table.
• Maximally one action can be processed per calculation cycle.
• The sequence table and the actions themselves are represented by parameters (codes with
subcodes).
A detailed explanation of all profile parameters can be found in the appendix in the
description for the "Positioning" action type. (44)
A detailed description of the action types can be found in the appendix.(42)
The L_Sequencer_1 FB is described in detail in the reference manual/online help for the
inverter in the "Function library »function blocks" chapter.
Note!
Additional logic operations in the application prevent the positioning program from
being started if the basic function "Manual jog" or "Homing" is activated. On the other
hand, it is avoided that these two basic functions can be activated if the positioning
program is being processed.
1
n
2
0
1
0Set 00 1Standby End
3
4
2

2 Features of the technology application
2.6 Basic signal flow
10 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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2.6 Basic signal flow
In the technology application, function blocks and system blocks are interconnected so that a
positioning sequence control can be implemented for the application ranges mentioned before.
The following describes the principal signal flow with the essential functions.
Basic signal flow of the "Position Sequencer" technology application
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Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 11
2 Features of the technology application
2.7 Parameter setting in the FB Editor view
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.7 Parameter setting in the FB Editor view
You can make the settings of the application-specific parameters directly in the FB Editor. This has
the advantage that the signal flow can be traced. The interaction of the modules becomes clear.
Moreover, you can reconfigure the I/O interconnection using the FB Editor and carry out an online
monitoring of the application running in the device (e.g. for diagnostic purposes).
• The icon in the head of the module, a double-click on the module, or the Parameter...
command in the Context menu of the module serve to open the parameterisation dialog or the
parameter list for the module.
• Colour codes and comments support you in handling the FB Editor.
• The areas highlighted in turquoise represent the "user interface". If required, the pre-
assignment of the I/O terminals can be adapted here and a control via the fieldbus interface
(MCI) can be established.
• In the areas highlighted in yellow, application-specific settings are required.
Detailed information on how to work with the FB Editor can be found in the reference
manual/online help of the controller in the chapter "Working with the FB Editor".

2 Features of the technology application
2.8 Pre-assignment of the I/O terminals
12 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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2.8 Pre-assignment of the I/O terminals
Terminal Function
Digital input terminals
X5/RFR Controller enable
X5/DI1
X5/DI2
Connection of positive/negative limit switches for monitoring of the travel range limits
• The connection is configured in a fail-safe fashion (LOW = limit switch activated).
DI1 Function
LOW Positive limit switch approached (activated)
HIGH Positive limit switch not approached (not activated)
DI2 Function
LOW Negative limit switch approached (activated)
HIGH Negative limit switch not approached (not activated)
Note!
If no limit switches are available:
1.Keep terminals DI1 and DI2 unconfigured.
2.Deactivate the inversion of DI1 and DI2: set bit 0 and bit 1 to "0" in C00114.
X5/DI3 Start positioning program
DI3 Function
LOWHIGH Start positioning program
Tip!
The "USER" LED status display on the front of the inverter is lit when the positioning program is
running.
X5/DI4 Reference switch connection
DI4 Function
LOW Reference switch activated
HIGH Reference switch not activated
X5/DI5
X5/DI6
Manual jog
DI5 DI6 Function
LOW LOW -
HIGH LOW Manual jog in positive direction
LOW HIGH Manual jog in negative direction
HIGH HIGH - / Manual jog in the direction selected first
X5/DI7 Reset error message and positioning program
DI7 Function
LOW No reset
LOWHIGH Reset error message
HIGH Reset positioning program
Analog input terminals
X3/A1U - (not assigned, can be used freely)
X3/A2U - (not assigned, can be used freely)

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 13
2 Features of the technology application
2.8 Pre-assignment of the I/O terminals
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Digital output terminals
X4/DO1 HIGH ≡"Drive is ready" state
X4/DO2 HIGH ≡"Actual position is in target position window" state
X4/DO3 HIGH ≡"Home position is known" state
X107/BD1, BD2 Control of a holding brake by the basic function "holding brake control"
X101/COM, NO Relay contact closed ≡"An error is pending" state
Analog output terminals
X3/O1U Actual speed value
• Scaling: 10 V ≡100 % reference speed (C00011)
X3/O2U Actual torque
• Scaling: 10 V ≡100 % maximum torque (C00057)
Terminal Function

3 Short setup of the technology application
3.1 Preconditions
14 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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3 Short setup of the technology application
3.1 Preconditions
For the execution of the short setup described in the following, the setting of the most important
parameters (motor, feedback system, etc.) is assumed.
The "commissioning wizard 8400" serves to carry out a guided commissioning of the controller
based on the Lenze setting of the parameters.
How to proceed:
1. Before switching on: Make sure that the inverter is inhibited (digital input terminal X5/RFR
open).
2. Switch on voltage supply of the controller.
For parameter setting and diagnostics of the controller without motor operation, an external
24-V supply through a safely separated power supply unit (SELV/PELV) is sufficient.
3. Establish a communication link between controller and Engineering PC, e.g. via USB diagnostic
adapter (E94AZCUS):
• connect the USB diagnostic adapter to the X6 diagnostic interface.
• establish a connection between the USB diagnostic adapter and the PC via a free USB port.
4. Start »Engineer« on the Engineering PC, e.g. via the Windows® start menu:
Start All programs Lenze Engineering L-force Engineer...
After the program start, no project has been loaded first and the start-up wizard is displayed.
5. Create a new project or open a project already available.
6. Go to Project View and select the 8400 controller.
7. Click the icon to go online.
After a connection to the controller has been established, the following status is displayed inthe
Status line:
8. Click the icon to start the commissioning wizard 8400.
• Now the commissioning wizard guides you step by step through the setting of the important
parameters for a quick commissioning.
•TheNext button can only be activated again after all parameter settings in the device have
been reset via the Load Lenze setting button.
• Execute the commissioning wizard right to the end.
• You can skip the "Control mode" step by clicking Next (only relevant for "Speed actuating
drive" technology application).
You can find detailed information on the options of the start-up wizard and on the
general use of the »Engineer« in the online help for the program which you can call with
[F1].

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 15
3 Short setup of the technology application
3.2 Step 1: Load "Position Sequencer" technology application
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3.2 Step 1: Load "Position Sequencer" technology application
In the Lenze setting, the inverter uses the "Speed actuating drive" technology application integrated
in the device. Execute the following steps to use the "Position Sequencer" technology application
instead:
1. Select the controller in the Project view.
2. If there is still an online connection to the controller:
Click the icon to go offline again.
(the application can only be selected offline.)
3. Click the icon to select another application.
The Insert application dialog box appears:
4. In the left field, select the "Packages" "Applications" category.
5. In the right field, select the "Position Sequencer" application.
6. Activate the Except motor data parameters option in order that the settings of the motor data
parameters made before will not be overwritten.
7. Press Complete to close the dialog box again and load the selected application into the
»Engineer« project.
8. Confirm the prompt on whether the current application is to be replaced by the "Position
Sequencer" application with Yes.

3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
16 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
In the default setting, the application is controlled via the digital input terminals. For higher
automated systems, mostly data bus systems are used for controlling the drives.
For control via the fieldbus interface (MCI), the user interface (area highlighted in turquoise) is to be
adapted accordingly in the function block editor.
• The assignment of the outputs on the left to the inputs on the right can be changed at will.
• The inputs on the right are permanently linked to functions of the application.
Tip!
By means of some simple configuration changes, control via the integrated CANopen
interface ("CAN on board") can also be implemented. The port blocks LP_CanIn and
LP_CanOut required for this are already provided in the interconnection.

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 17
3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
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The following sample illustration shows the interconnection required for achieving the Pre-
assignment of the process data input words described in the following subchapter:
[3-1] User interface for sequencer inputs, the application control word, and the speed override setpoint in the function block editor
Adaptation of the user interface for a control via the fieldbus interface (MCI)

3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
18 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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3.3.1 Pre-assignment of the process data input words
After adapting the interconnection according to the [3-1] illustration, the process data input words
for a control via the fieldbus interface (MCI) are assigned as follows:
Input words Assignment
Word 1 Control word (for bit assignment see the following table)
Word 2 Setpoint for speed override
Word 3 Target for a variable branch in the positioning program
(input signal for action 1 of the "Variable branch" type)
• When the positioning program contains an action 1 of "Variable branching" type, branching
is carried out in the corresponding step depending on the value available at this input.
Word 4 Sequencer inputs 1 ... 16 (bit coded)
• The "Positioning", "Branch", "Wait", and "Standby" action types are provided with the "Input
for..." parameter. If it is non-zero, it designates the number of the sequencer input at which
the positioning program expects the level defined for this purpose before it executes the
action.
Note!
If the sequencer inputs are to be triggered via the digital inputs instead, C00470/1 has to be set
to the value "1: True".
Word 5 ... 16 - (not preconfigured)
Control word Function
Bit 0 - (not preconfigured)
Bit 1 - (not preconfigured)
Bit 2 1 ≡activate quick stop (QSP)
Bit 3 1 ≡enable controller (RFR)
Bit 4 1 ≡activate speed override
Bit 5 - (not preconfigured)
Bit 6 0 ≡stop homing
1 ≡start homing
Bit 7 1 ≡Reset fault (trip reset)
Bit 8 - (not preconfigured)
Bit 9 1 ≡start positioning sequence control
Bit 10 1 ≡set reference
Bit 11 1 ≡reset positioning sequence control
Bit 12 ... 13 Manual jog
Bit 12 Bit 13 Function
00-
1 0 Manual jog in positive direction
0 1 Manual jog in negative direction
1 1 - / Manual jog in the direction selected first
Bit 14 - (not preconfigured)
Bit 15 1 ≡stop positioning sequence control (pause)

Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 19
3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
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3.3.2 Pre-assignment of the process data output words
The LP_MciOut port block is already implemented in the technology application. The process data
output words are assigned as follows:
Output words Assignment
Word 1 Status word (for bit assignment see the following table)
Word 2 Actual speed value
• Scaling: 16384 ≡100 % reference speed (C00011)
Word 3 Actual torque
• Scaling: 16384 ≡100 % maximum torque (C00057)
Word 4 ... 16 - (not preconfigured)
Status word Status
Bit 0 1 ≡Group error active (configurable in C00148)
Bit 1 1 ≡Inverter control inhibited (pulse inhibit is active)
Bit 2 1 ≡Drive controller is ready for operation
Bit 3 1 ≡Quick stop is active
Bit 4 1 ≡Setpoint torque is in the limitation
Bit 5 1 ≡actual position is inside the target position window
Bit 6 During open-loop operation:
1 ≡speed setpoint < comparison value (C00024)
During closed-loop operation:
1 ≡actual speed value < comparison value (C00024)
Bit 7 1 ≡Controller inhibited (controller inhibit is active)
Bit 8 ... 11 Bit coded display of the active device status
Bit 11 Bit 10 Bit 9 Bit 8 Device status Meaning
0 0 0 0 FirmwareUpdate Firmware update function is active
0001Init Initialisationactive
0 0 1 0 Ident Identification active
0 0 1 1 ReadyToSwitchOn Device is ready to start
0100SwitchedOn Deviceisswitchedon
0 1 0 1 OperationEnabled Operation
0110- -
0111Trouble Troubleactive
1000Fault Faultactive
1001TroubleQSP TroubleQSPisactive
1010SafeTorqueOff Safetorqueoffisactive
1011SystemFault Systemfaultactive
Bit 12 1 ≡a warning is indicated
Bit 13 1 ≡a fault is active. The inverter is in the "Trouble" device state.
• The motor has no torque (is coasting) due to the inhibit of the inverter.
• The "Trouble" device status is automatically abandoned if the error cause has been removed.
Bit 14 1 ≡positioning program running
Bit 15 1 ≡Home position is known

3 Short setup of the technology application
3.4 Step 3: Set commissioning parameters
20 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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3.4 Step 3: Set commissioning parameters
For a quick commissioning, only the following application-specific parameters have to be set or
their default setting has to be checked!
• In order that you quickly find the respective parameterisation dialog in the FB Editor, the
following table lists the block related to each parameter.
• The icon in the head of the module, a double-click on the module, or the Parameter...
command in the Context menu of the module serve to open the parameterisation dialog or the
parameter list for the module.
Parameter
(Block)
Possible settings
(Lenze setting printed in bold)
Info
C00470/1
(LS_ParFree_b)
Selection of the source for the sequencer inputs
• The sequencer inputs can be used for the
"Positioning", "Branch", "Wait", and "Standby"
actions to control the program flow by this.
0 MCI interface Sequencer inputs = process data input word 3
1 Digital inputs For this setting, cancel all double assignments of the
digital inputs, so that they only work as sequencer
inputs.
C00470/2
(LS_ParFree_b)
Selection of the signal to be output via axis bus
0Setpoint Line data words 1 & 2 = speed setpoint integrated to
an angle (path)
Line data word 3 = speed setpoint
1 Actual value Line data words 1 & 2 = actual speed value
integrated to an angle (path)
Line data word 3 = actual speed value
C00470/4
(LS_ParFree_b)
Operation as position follower master
0Off The signals are output via axis bus according to the
setting in C00470/2.
1 On This setting is only required if the drive is to be used
as master for a slave drive with the "Position
Follower" technology application. The following
signals are then output via axis bus:
Line data words 1 & 2 = current position
Line data word 3 = current speed
Note:
With this setting, homing of the master causes a step
in the slave position follower if the current position is
set to the home position!
Remedy: Inhibit the slave position follower when you
are referencing the master!
Machine parameters/axis settings
C01201/1
(LS_MotionControl
Kernel)
0.0000 units 214748.3647 Cycle length
• For a modulo measuring system, the length of
one cycle to the overflow is to be set.
• For a limited measuring system, the Lenze setting
"0.0000" is to be retained.
Lenze setting: 0.0000 units