Lenze 8400 HighLine - Manual (Page 500)

8 Basic drive functions (MCK)
8.2 Internal interfaces | System block "LS_MotionControlKernel"
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Lenze · 8400 HighLine · Referenzhandbuch · DMS 10.0 EN · 06/2014 · TD05/TD14
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8.2.1 MCK control word
The motion control function implemented in the LS_MotionControlKernel system block can be
controlled via the wMotionCtrl1 and wMotionCtrl2 control words. Together, both control words
form a 32-bit control double word which serves to control the entire MotionControlKernel. All
motion profiles in the various operating modes can be operated via this interface.
For direct control via a fieldbus system, the two control words can be triggered by the field bus via
a port block. In addition to a few other signals (e.g. limit switch, speed override) that are connected
to the digital inputs of the drive controller, all control signals can therefore be activated/deactivated
via the fieldbus used (CAN, PROFIBUS, etc.).
As an alternative to this, changes to the individual control bits or bit fields (e.g. for specifying the
profile number) can also be carried out via separate process inputs provided by the
L_MckCtrlInterface function block. The control words wOutMckPosCtrl_1 and wOutMckPosCtrl_2
output by this function block constitute the input information for the LS_MotionControlKernel
system block in this case.
MCK control word 1 (wMotionCtrl1)
Bit Designation Description
0
...
3
OpMode_Bit0
...
OpMode_Bit3
Operating mode Bit 3 Bit 2 Bit 1 Bit 0
Speed follower 0 0 0 0
Homing 0 0 0 1
Manual jog 0 0 1 0
Positioning 0 0 1 1
Stop 0 1 0 0
Position follower 0 1 0 1
All other possible settings are reserved for future extensions!
4
5
ManJogPos
ManJogNeg
Manual jog Bit 5 Bit 4
Stop manual jogging 0 0
Manual jog, right 0 1
Manual jog, left 1 0
No change from previous status 1 1
6 ManExecute
2ndSpeed
"1" ≡ Change over to manual speed 2
7 ReleaseLimitSwitch "1" ≡ Retract operated hardware limit switch
8 HomStartStop "1" ≡ Start/stop homing process
9 HomSetPos "1" ≡ Set homing position
10 HomResetPos "1" ≡ Reset the "Reference known" status
• bHomePosDone and bHomePosAvailable are reset to FALSE.
• The positions remain unaffected.
11 EnableSpeedOverride "1" ≡ Activate speed override
12 EnableAccOverride
"1" ≡ Activate acceleration override
13 Enable
SRampOverride
"1" ≡ Activate S-ramp override
14 PosTeachSetPos "1" ≡ Teach MCK set position into the selected profile
15 PosTeachActPos "1" ≡ Teach current position into the selected profile