Document Outline

• 9400 function library
  • Overview of technical documentation for 9400 Servo Drives
  • Contents
  • 1 About this documentation
    • 1.1 Conventions used
    • 1.2 Definition of the notes used
  • 2 Introduction
    • 2.1 How to create applications:
    • 2.2 What is a function block?
    • 2.3 Parameterisable function blocks
    • 2.4 Further objects of an interconnection
      • 2.4.1 System block
      • 2.4.2 Port block
      • 2.4.3 Variable
      • 2.4.4 User code
    • 2.5 Functional ranges of an interconnection
    • 2.6 Conventions used for input/output identifiers
    • 2.7 Signal types & scaling
      • 2.7.1 Data type check/implicit type conversion
    • 2.8 Multitasking in the Servo Drive 9400
      • 2.8.1 Runtime measurement
      • 2.8.2 Optimising the runtime behaviour
      • 2.8.3 Exchanging data between tasks
  • 3 Working with the FB editor
    • 3.1 Short overview of new functions in the FB Editor
    • 3.2 User interface
      • 3.2.1 Control and function elements
      • 3.2.2 Toolbar
      • 3.2.3 Search function
      • 3.2.4 Task selection
      • 3.2.5 Editor view/overview
      • 3.2.6 Context menu
      • 3.2.7 Overview window
    • 3.3 Using the FB-Editor as "Viewer"
      • 3.3.1 Following connections of inputs and outputs
      • 3.3.2 Keyboard commands for navigation
    • 3.4 Creating/reconfiguring the interconnection
      • 3.4.1 Enabling the FB Editor
      • 3.4.2 Insert/delete objects
        • 3.4.2.1 Inserting a function block
        • 3.4.2.2 Inserting a system block
        • 3.4.2.3 Inserting a port block
        • 3.4.2.4 Creating/inserting a variable
        • 3.4.2.5 Configuring/inserting a user code
        • 3.4.2.6 Inserting a comment
        • 3.4.2.7 Deleting objects that are no longer required
        • 3.4.2.8 Deleting variables and user codes from the application
      • 3.4.3 Changing connector visibilities
      • 3.4.4 Arranging objects in the drawing area
      • 3.4.5 Creating/deleting connections
        • 3.4.5.1 Creating a connection using the connection line
        • 3.4.5.2 Creating a connection using port identifiers
        • 3.4.5.3 Creating a connection via connection dialog
        • 3.4.5.4 Deleting connections that are no longer required
      • 3.4.6 Changing the processing order
      • 3.4.7 Configuring the task properties
      • 3.4.8 Configuring the exception handling
      • 3.4.9 Compiling the completed interconnection
      • 3.4.10 Testing the interconnection in the device
      • 3.4.11 Copying interconnection elements (across all devices)
        • 3.4.11.1 Insert options for copied elements
    • 3.5 Printing the interconnection
    • 3.6 Comparing interconnections
      • 3.6.1 Comparison examples
      • 3.6.2 Contents and representation of the comparison
    • 3.7 Copying complete interconnection
    • 3.8 Inserting complete interconnection from reference project
  • 4 Short overview
    • 4.1 Analog signal processing
    • 4.2 Digital signal processing
    • 4.3 Data type conversion
    • 4.4 Mathematical functions
    • 4.5 Conversion of physical units
    • 4.6 Speed conditioning
    • 4.7 Special functions
    • 4.8 Output of status signals
    • 4.9 FBs for system via electrical shaft
    • 4.10 FBs for positioning tasks
    • 4.11 FBs for winding technology
    • 4.12 All function blocks [A-Z]
    • 4.13 FB reference list - 9300 Servo PLC
    • 4.14 FB reference list - 9300 servo inverter
  • 5 Function blocks
    • 5.1 L_CamClutchPos - clutch (path-controlled)
    • 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation
      • 5.2.1 Typical application
      • 5.2.2 Data flow
      • 5.2.3 Switching performance for position cams
      • 5.2.4 Switching performance for position-time cams
      • 5.2.5 Dynamic displacement of the cams
      • 5.2.6 Selection of the cam data
      • 5.2.7 Interconnection examples
    • 5.3 L_CamCurve - curve interpolation for characteristics
      • 5.3.1 Data flow
      • 5.3.2 Function
      • 5.3.3 Track switch-over
      • 5.3.4 Interconnection examples
    • 5.4 L_CamGetAxisData - reading out machine parameters from cam data
    • 5.5 L_CamPosMarker - reading out position marks from cam data
      • 5.5.1 Data flow
    • 5.6 L_CamProfiler - curve interpolation for motion profiles
      • 5.6.1 Data flow
      • 5.6.2 Track switch-over
      • 5.6.3 Feedforward control
      • 5.6.4 Output of the machine parameters
    • 5.7 L_CamSetContDataPDO - contactor data selection via inputs/PDOs
      • 5.7.1 Exception handling
      • 5.7.2 Interconnection example
    • 5.8 L_CamSetContDataSDO - contactor data selection via codes/SDOs
      • 5.8.1 Exception handling
      • 5.8.2 Interconnection example
    • 5.9 L_CamStretchAbs - stretching/compressing the position (absolute)
      • 5.9.1 Typical application
      • 5.9.2 Signal characteristics
      • 5.9.3 Interconnection example
    • 5.10 L_CamStretchFeed - stretching/compressing the position (relative)
      • 5.10.1 Typical application
      • 5.10.2 Signal characteristics
      • 5.10.3 Interconnection example
    • 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in
      • 5.11.1 Application example: "Flying saw"
      • 5.11.2 Synchronous clutch-in
      • 5.11.3 Oversynchronous clutch-in
      • 5.11.4 Signal characteristics
      • 5.11.5 Interconnection example
    • 5.12 L_Dc2BytesToWord - type converter
    • 5.13 L_Dc2WordsToDWord- type converter
    • 5.14 L_Dc4BytesToDWord - type converter
    • 5.15 L_DcBitShift - shift operation
    • 5.16 L_DcBitShiftByte - shift operation
    • 5.17 L_DcBitShiftDWord - shift operation
    • 5.18 L_DcBitShiftInt - shift operation
    • 5.19 L_DcBitShiftWord - shift operation
    • 5.20 L_DcBitsToByte - bit multiplexer
    • 5.21 L_DcBitsToDWord - bit multiplexer
    • 5.22 L_DcBitsToWord - bit multiplexer
    • 5.23 L_DcByteBitand - bit combination
    • 5.24 L_DcByteBitor - bit combination
    • 5.25 L_DcByteBitxor - bit combination
    • 5.26 L_DcByteToBits - bit demultiplexer
    • 5.27 L_DcByteToInt - type converter
    • 5.28 L_DcByteToWord - type converter
    • 5.29 L_DcDIntToDWord - type converter
    • 5.30 L_DcDIntToInt - type converter
    • 5.31 L_DcDWordBitand - bit combination
    • 5.32 L_DcDWordBitor - bit combination
    • 5.33 L_DcDWordBitxor - bit combination
    • 5.34 L_DcDWordTo2Words - type converter
    • 5.35 L_DcDWordTo4Bytes - type converter
    • 5.36 L_DcDWordToBits - bit demultiplexer
    • 5.37 L_DcDWordToDInt - type converter
    • 5.38 L_DcDWordToWord - type converter
    • 5.39 L_DcGetBitOfByte - bit operation
    • 5.40 L_DcGetBitOfDWord - bit operation
    • 5.41 L_DcGetBitOfWord - bit operation
    • 5.42 L_DcIntToDInt - type converter
    • 5.43 L_DcIntToWord - type converter
    • 5.44 L_DcNorm_aToNorm_n - signal converter
    • 5.45 L_DcNorm_nToNorm_a - signal converter
    • 5.46 L_DcNorm_nToSpeed_s - signal converter
    • 5.47 L_DcResetBitOfByte - bit operation
    • 5.48 L_DcResetBitOfDWord - bit operation
    • 5.49 L_DcResetBitOfWord - bit operation
    • 5.50 L_DcSetBitOfByte - bit operation
    • 5.51 L_DcSetBitOfDWord - bit operation
    • 5.52 L_DcSetBitOfWord - bit operation
    • 5.53 L_DcSpeed_sToNorm_n - signal converter
    • 5.54 L_DcSpeed_sToSpeed_v - signal converter
    • 5.55 L_DcSpeed_vToSpeed_s - signal converter
    • 5.56 L_DcWordBitand - bit combination
    • 5.57 L_DcWordBitor - bit combination
    • 5.58 L_DcWordBitxor - bit combination
    • 5.59 L_DcWordTo2Bytes - type converter
    • 5.60 L_DcWordToBits - bit demultiplexer
    • 5.61 L_DcWordToByte - type converter
    • 5.62 L_DcWordToDWord - type converter
    • 5.63 L_DcWordToInt - type converter
    • 5.64 L_DevApplErr - error tripping
    • 5.65 L_DevApplErrFix - error tripping
    • 5.66 L_DevBrakeStateDecoder - status signals of the basic function "Brake control"
    • 5.67 L_DevDriveInterfaceStateDecoder - status signals of the drive interface
    • 5.68 L_DevHomingStateDecoder - status signals of the basic function "Homing"
    • 5.69 L_DevLimiterStateDecoder - status signals of the basic function "Limiter"
    • 5.70 L_DevManualJogStateDecoder - status signals of the basic function "ManualJog"
    • 5.71 L_DevParReadFix - read parameter
      • 5.71.1 Example
    • 5.72 L_DevParWriteFix - write parameter
    • 5.73 L_DevPositionerStateDecoder - positioning status signals
    • 5.74 L_DevReadParDInt - reading parameters of the DINT type
    • 5.75 L_DevSMControlDecoder - control signals from the safety module
    • 5.76 L_DevSMControlEncoder - control word for limiter
    • 5.77 L_DevSMStateDecoder - status signals from the safety module
    • 5.78 L_DevSMStateDecoderIO - status signals from the safety module
    • 5.79 L_DevWriteParDInt - writing to parameters of the DINT type
    • 5.80 L_EsClutchPos - clutch (time-controlled)
      • 5.80.1 Signal characteristics
      • 5.80.2 Interconnection example
    • 5.81 L_EsEncoderConv - encoder signal conditioning
      • 5.81.1 Typical application
      • 5.81.2 Encoder settings
      • 5.81.3 64 bit encoder signal evaluation
      • 5.81.4 Signal characteristics
    • 5.82 L_EsStretchIntegrate - synchronously stretching/compressing the master value
      • 5.82.1 Signal characteristics
    • 5.83 L_LdAddOffsetCyclic - offset addition
    • 5.84 L_LdClutchAxisP - virtual clutch for synchronism
    • 5.85 L_LdClutchV - virtual clutch for electronic gearboxes
    • 5.86 L_LdConvAxisV - speed ratio
    • 5.87 L_LdDifferentiateCyclic - cyclic differentiation
    • 5.88 L_LdExtrapolate - extrapolation
      • 5.88.1 Function
    • 5.89 L_LdIntegrateCyclic - cyclic integration
    • 5.90 L_LdLinearCoupling - master value connection
      • 5.90.1 Interconnection example
    • 5.91 L_LdMarkSync - mark synchronisation
      • 5.91.1 Typical application
      • 5.91.2 Signal characteristics
      • 5.91.3 Interconnection example
    • 5.92 L_LdMonitFollowError - following error monitoring
    • 5.93 L_LdMPot - master value adjustment
      • 5.93.1 Monitoring for counter overflow
    • 5.94 L_LdPosCtrlLin - Master value adjustment via position
      • 5.94.1 Monitoring for counter overflow
      • 5.94.2 Interconnection examples
        • 5.94.2.1 Printing roller trimming via x offset
        • 5.94.2.2 Time-based compensation of mark correction
    • 5.95 L_LdSetAxisVelocity - master value processing
    • 5.96 L_LdStateDecoder - LineDrive status signals
    • 5.97 L_LdToolControl - setpoint conditioning
    • 5.98 L_LdSyncOperation - master value connection
      • 5.98.1 Operating mode 0: Coupling via feed constants
      • 5.98.2 Operating mode 1: Coupling via cycles
      • 5.98.3 Operating mode 2: Free coupling
      • 5.98.4 Angular trimming via x offset
    • 5.99 L_LdVirtualMasterP - virtual master for synchronism
      • 5.99.1 Functions
      • 5.99.2 Monitoring for counter overflow
    • 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes
      • 5.100.1 Functions
      • 5.100.2 Monitoring for counter overflow
    • 5.101 L_LdZeroDetect - zero crossing detection
    • 5.102 L_PosDecoderStatePositioner - positioning status signals
    • 5.103 L_PosDecoderStateSequencer - status signals of the sequence control
    • 5.104 L_PosGetProfile - profile data tables
    • 5.105 L_PosGetProfileData - profile data output
    • 5.106 L_PosGetTableAcc - acceleration table
    • 5.107 L_PosGetTableJerk - S-ramp time table
    • 5.108 L_PosGetTablePos - position table
    • 5.109 L_PosGetTableSpeed - speed table
    • 5.110 L_PosPositionerInterface - positioning interface
      • 5.110.1 Interconnection
      • 5.110.2 Applications
    • 5.111 L_PosPositionerTable - profile data record management
      • 5.111.1 Variable tables
      • 5.111.2 "Teach" function
      • 5.111.3 Positioning modes
      • 5.111.4 Positioning with final speed
      • 5.111.5 Touch probe positioning
      • 5.111.6 Monitoring for counter overflow
    • 5.112 L_PosProfileInterface - profile data interface
      • 5.112.1 Positioning modes
      • 5.112.2 Positioning with final speed
      • 5.112.3 Touch probe positioning
      • 5.112.4 Touch probe configuration
    • 5.113 L_PosProfileTable - profile data record management (simple)
      • 5.113.1 Profile data table
      • 5.113.2 "Teach" function
      • 5.113.3 Positioning modes
      • 5.113.4 Touch probe positioning
      • 5.113.5 Monitoring for counter overflow
    • 5.114 L_PosSequencer - sequence control
      • 5.114.1 Priorities of the control signals
      • 5.114.2 States of the sequencer
      • 5.114.3 Action types available for creating the positioning program
        • 5.114.3.1 Action type "Program end"
        • 5.114.3.2 Action type "Positioning"
        • 5.114.3.3 Action type "Switching"
        • 5.114.3.4 Action type "Branching"
        • 5.114.3.5 Action type "Variable branching"
        • 5.114.3.6 Action type "Homing"
        • 5.114.3.7 Action type "Waiting"
        • 5.114.3.8 Action type "Counter setting"
        • 5.114.3.9 Action type "Counting"
        • 5.114.3.10 Action type "Stand-by"
      • 5.114.4 Example: Sequence table
    • 5.115 L_PosSequencerStateDecoder - status signals of the sequence control
    • 5.116 L_SdAccToUnit - acceleration conversion
    • 5.117 L_SdDelayComp - dead time compensation
    • 5.118 L_SdDifferentiate - differentiation
    • 5.119 L_SdFactor - stretch factor
    • 5.120 L_SdGetAxisData - Reading out machine parameters from axis data
    • 5.121 L_SdGetPosition - position conversion
    • 5.122 L_SdGetSpeed - speed conversion
    • 5.123 L_SdIntegrate - integration of speed to position
    • 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction)
      • 5.124.1 Typical application
      • 5.124.2 Interconnection of the touch probe inputs
      • 5.124.3 Signal characteristics
    • 5.125 L_SdIntegrateLimit - integration of speed to position
      • 5.125.1 Basics
      • 5.125.2 Signal characteristics
    • 5.126 L_SdInterExtrapolateAny - signal interpolation
      • 5.126.1 Extrapolation function
      • 5.126.2 Interpolation function
      • 5.126.3 Signal characteristics
    • 5.127 L_SdInterExtrapolatePosition - signal interpolation
      • 5.127.1 Extrapolation function
      • 5.127.2 Interpolation function
      • 5.127.3 Telegram failure detection
      • 5.127.4 Signal characteristics
    • 5.128 L_SdInterpolate - signal interpolation
      • 5.128.1 Function
    • 5.129 L_SdLimitSpeed - speed limitation
    • 5.130 L_SdMotorPot - motor potentiometer
      • 5.130.1 Acceleration and deceleration time
      • 5.130.2 Control signals
      • 5.130.3 Signal characteristics
      • 5.130.4 Deactivation function
      • 5.130.5 Behaviour for incorrect parameterisation of the limit values
    • 5.131 L_SdPosToUnit - position conversion
    • 5.132 L_SdProcessController - PID controller with limitation
      • 5.132.1 Controller characteristic
      • 5.132.2 Adaptation of the controller gain via characteristic function
      • 5.132.3 System deviation in the area of reduced sensitivity
      • 5.132.4 Controller influence
      • 5.132.5 Ramp function generator
      • 5.132.6 Low pass in actual value path
    • 5.133 L_SdRampGenerator - ramp function generator - S-ramp
      • 5.133.1 Loading the ramp function generator
      • 5.133.2 Acceleration and jerk
    • 5.134 L_SdRampGeneratorAny - ramp function generator - S-ramp
    • 5.135 L_SdRuntimeComp - runtime compensation
    • 5.136 L_SdSetAxisData - machine parameters
      • 5.136.1 Typical application
      • 5.136.2 Selection and input of machine parameters
      • 5.136.3 Resolution of an encoder revolution
        • 5.136.3.1 Detecting the optimum resolution
      • 5.136.4 Example
    • 5.137 L_SdSetPosition - position conversion
      • 5.137.1 Monitoring for counter overflow
    • 5.138 L_SdSetSpeed - speed conversion
      • 5.138.1 Monitoring for counter overflow
    • 5.139 L_SdSpeedFilter - speed signal delay
      • 5.139.1 Monitoring for counter overflow
    • 5.140 L_SdSpeedSet - setpoint ramp generator
      • 5.140.1 Setpoint path
      • 5.140.2 Fixed setpoints
      • 5.140.3 Ramp generator
      • 5.140.4 Setting and selection of the Ti times
      • 5.140.5 Display of the machine-based variables
    • 5.141 L_SdSpeedToUnit - speed conversion
    • 5.142 L_SdSwitchPoint - position switch points
      • 5.142.1 Monitoring for counter overflow
    • 5.143 L_SdTouchProbe - touch probe evaluation
      • 5.143.1 Actual value interpolation (principle)
      • 5.143.2 Example
    • 5.144 L_SdUnitToAcc - acceleration conversion
    • 5.145 L_SdUnitToPos - position conversion
    • 5.146 L_SdUnitToSpeed - speed conversion
    • 5.147 L_Tb5And - AND with 5 inputs
    • 5.148 L_Tb5Nand - NAND with 5 inputs
    • 5.149 L_Tb5Nor - NOR with 5 inputs
    • 5.150 L_Tb5Or - OR with 5 inputs
    • 5.151 L_Tb5Xor - XOR with 5 inputs
    • 5.152 L_Tb8Select - 1-out-of-8 selector (for data type "DINT")
    • 5.153 L_Tb8SelectByte - 1-out-of-8 selector (for data type "BYTE")
    • 5.154 L_Tb8SelectWord - 1-out-of-8 selector (for data type "WORD")
    • 5.155 L_TbAbs - absolute value
    • 5.156 L_TbAdd - addition
    • 5.157 L_TbAddLim - addition with limitation
    • 5.158 L_TbAddSubLim - addition and subtraction with limitation
    • 5.159 L_TbAnd - AND with 2 inputs
    • 5.160 L_TbCompare - comparison
      • 5.160.1 Function 1: dnIn1 = dnIn2
      • 5.160.2 Function 2: dnIn1 > dnIn2
      • 5.160.3 Function 3: dnIn1 < dnIn2
      • 5.160.4 Function 4: |dnIn1| = |dnIn2|
      • 5.160.5 Function 5: |dnIn1| > |dnIn2|
      • 5.160.6 Function 6: |dnIn1| < |dnIn2|
    • 5.161 L_TbCompare_n - scaled comparison
      • 5.161.1 Function 1: dnIn1_n = dnIn2_n
      • 5.161.2 Function 2: dnIn1_n > dnIn2_n
      • 5.161.3 Function 3: dnIn1_n < dnIn2_n
      • 5.161.4 Function 4: |dnIn1_n| = |dnIn2_n|
      • 5.161.5 Function 5: |dnIn1_n| > |dnIn2_n|
      • 5.161.6 Function 6: |dnIn1_n| < |dnIn2_n|
    • 5.162 L_TbCount - up/downcounter
      • 5.162.1 Function 1: Automatic counter reset
      • 5.162.2 Function 2: Counter stop at upper limit
    • 5.163 L_TbCurve - characteristic function
      • 5.163.1 Selection of the characteristic
      • 5.163.2 Characteristic mode 0: Entire range
      • 5.163.3 Characteristic mode 1: Symmetrically to y axis
      • 5.163.4 Characteristic mode 2: Symmetrically to zero point
    • 5.164 L_TbCurveAny - Characteristic function
      • 5.164.1 Selection of the characteristic
      • 5.164.2 Characteristic mode 0: Entire range
      • 5.164.3 Characteristic mode 1: Symmetrically to y axis
      • 5.164.4 Characteristic mode 2: Symmetrically to zero point
    • 5.165 L_TbDeadband - dead band with gain
    • 5.166 L_TbDeadband_n - scaled dead band with gain
    • 5.167 L_TbDelay - delay
      • 5.167.1 Function 1: ON-delay
      • 5.167.2 Function 2: OFF-delay
      • 5.167.3 Function 3: General delay
    • 5.168 L_TbDifferentiate - differentiator with low-pass filter
      • 5.168.1 Function
      • 5.168.2 Adapting the time reference
    • 5.169 L_TbDiv - division
    • 5.170 L_TbDiv_n - scaled division
    • 5.171 L_TbFlipFlopD - D flipflop
    • 5.172 L_TbFlipFlopRS - status-controlled RS flipflop
    • 5.173 L_TbGainLim - gain with limitation
    • 5.174 L_TbIntegrate - integration with limitation
      • 5.174.1 Adapting the time reference
    • 5.175 L_TbLimit - limitation (for "DINT" data type)
    • 5.176 L_TbLimit_n - scaled limitation
    • 5.177 L_TbLimitInt - limitation (for "INT" data type)
    • 5.178 L_TbMaskOut - zone masking
    • 5.179 L_TbMul - multiplication
    • 5.180 L_TbMul_n - scaled multiplication with limitation
    • 5.181 L_TbMulDivLim - multiplication and division with limitation
    • 5.182 L_TbMulLim - multiplication with limitation
    • 5.183 L_TbNand - NAND with 2 inputs
    • 5.184 L_TbNeg - negation (for "DINT" data type)
    • 5.185 L_TbNegInt - negation (for "INT" data type)
    • 5.186 L_TbNegSel - optional negation (for "DINT" data type)
    • 5.187 L_TbNegSelInt - optional negation (for "INT" data type)
    • 5.188 L_TbNor - NOR with 2 inputs
    • 5.189 L_TbNormalize - signal scaling with limitation
    • 5.190 L_TbNot - negation
    • 5.191 L_TbOr - OR with 2 inputs
    • 5.192 L_TbOscillator - rectangular signal generator
      • 5.192.1 Function
      • 5.192.2 Optimising the accuracy of the output signal
    • 5.193 L_TbPIController - PI controller with limitation
    • 5.194 L_TbPT1Filter - delay
    • 5.195 L_TbRateAction - rate action with limitation
    • 5.196 L_TbSampleHold - sample & hold (for "DINT" data type)
    • 5.197 L_TbSampleHoldWord - sample & hold (for "WORD"data type)
    • 5.198 L_TbSelect - selector (for "DINT" data type)
    • 5.199 L_TbSelectByte - selector (for "BYTE" data type)
    • 5.200 L_TbSelectWord - selector (for "WORD" data type)
    • 5.201 L_TbSub - subtraction
    • 5.202 L_TbSubLim - subtraction with limitation
    • 5.203 L_TbTransition - edge evaluation
      • 5.203.1 Function 1: Evaluating rising edges
      • 5.203.2 Function 2: Evaluating falling edges
      • 5.203.3 Function 3: Evaluating rising and falling edges
    • 5.204 L_TbXor - XOR with 2 inputs
    • 5.205 L_WndCalcDiameter - diameter calculation
      • 5.205.1 Setting an initial value
      • 5.205.2 Calculating the diameter
      • 5.205.3 Holding the current value
      • 5.205.4 Selecting the direction of change/web break monitoring
      • 5.205.5 Limit value monitoring
    • 5.206 L_WndCalcLength - length calculation
      • 5.206.1 Display of the length/residual length/residual runtime reached
      • 5.206.2 Activating the braking process
      • 5.206.3 Triggering a limit stop
      • 5.206.4 Resetting the calculation & trigger signals
    • 5.207 L_WndFrictionCompensation - friction compensation
      • 5.207.1 Basics: Friction response
      • 5.207.2 Basic interconnection
      • 5.207.3 Identifying the friction characteristic automatically
      • 5.207.4 Activating the friction compensation
    • 5.208 L_WndIdentMInertia - identification of the moment of inertia
      • 5.208.1 Basic interconnection
      • 5.208.2 Carrying out the identification
    • 5.209 L_WndStopCtrl - stop controller
      • 5.209.1 Display of the residual length/residual runtime
      • 5.209.2 Activating the braking process
      • 5.209.3 Triggering a limit stop
      • 5.209.4 Resetting the calculation & trigger signals
    • 5.210 L_WndTensionCurve - tensile force characteristic
      • 5.210.1 Selection of the characteristic
        • 5.210.1.1 Characteristic for a linear course of the tensile force
        • 5.210.1.2 Characteristic for a linear course of the torque
        • 5.210.1.3 Course of the tensile force according to a specified characteristic
  • 6 Table of attributes
  • Index
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