Lenze CANopen Controller-based Automation User Manual
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Controller-based Automation: Central motion control
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Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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Lenze provides especially coordinated system components:
• Engineering software
The
on your Engineering PC (Windows operating system ) serve
to parameterise, configure and diagnose the system. The Engineering PC communicates with
the Controller via Ethernet.
• Controller
The Lenze Controller is available as Panel Controller with integrated touch display and as
Cabinet Controller in control cabinet design.
Cabinet Controllers provide a direct coupling of the I/O system 100 via the integrated backplane
bus.
The runtime software of the Lenze Controllers provides the control and/or visualisation of
motion sequences. The following software versions are available:
• "Logic": Sequence control in the Controller, motion control in the inverter
• "Motion": Sequence control and motion control in the Controller, inverter as actuating drive
• "Visu": Optional visualisation of the automation system, can be used separately or in addition
to "Logic" or "Motion"
An external monitor panel/display can be connected to the Cabinet Controller 3231 C/
3241 C.
• Without software: Controller as single component with operating system only
• Bus systems
EtherCAT is a standard "on board" bus system of the Controller-based Automation. EtherCAT
enables the control of all nodes (Motion/Logic) on one common fieldbus.
Optionally, CANopen, PROFIBUS and PROFINET can be used as extended topologies.
The Controllers c300/p300 have a CANopen interface "on board" as well (in addition to
EtherCAT).
• Inverter (e.g. Servo Inverter i700)
"Logic & Motion" runtime software
The "Controller-based Automation" system allows for the central control of devices for Logic and
Motion applications. The runtime software runs on the Controller.
In case of Logic applications, the sequence control is carried out in the Controller and the motion
control is carried out in the inverter.
In case of Motion applications , the sequence control and motion control are carried out in the
Controller. The inverter is used as actuating drive.
• Motion applications make special demands on the cycle time and real-time capability of the bus
system between the Controller and the subordinate fieldbus nodes.
• this is for instance the case if the field devices, for example, are to move in a synchronised way
or if position setpoints are to be transmitted.