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LENORD +BAUER

GEL 8251 Pitch controller with PLC functionality

... automates motion.

Technical information

Version 2014-10

General Optimised for the harsh environment of the rotor hub on wind turbines, the Pitch Controller GEL 8251 meets all the requirements that arise at installation locations all over the world - whether onshore or offshore. As the Hot Climate Version (HCV) for the warm, humid climate in southern China, or as the Cold Climate Version (CCV) for use at -20 °C at an altitude of 1500 m on the central Asian plateau. As the successor to the GEL 823x that has been proven in 15,000 wind turbines, the new Pitch Controller GEL 8251 combines 10 years of experience with an increase in the performance of this product family.

Optional: Remote service Web FTP, HTTP communication via WEB browser Condition monitoring of the latest actual values Reading and writing parameters Reading the malfunctions saved Interface to LB-Graph Remote update, online firmware update Remote service log book

GEL 8251

Features Expanded temperature range - 20°C to + 70°C Robust, insensitive to shock and vibrations Compact display controller, CPU, LC display, keyboard and I/Os 30 / 15 digital IN / OUT, 3 / 3 analogue IN / OUT, 4 PT100 3 or 6 encoder inputs (SSI, incremental 5 V / 24 V) 2 x CANopen onboard, optional: PROFIBUS DP, Ethernet, DeviceNet Interfaces: 1 x RS232, 1 x RS232 / 422 / 485

Advantages Optimised for harsh environment 15.000 units of the predecessor GEL 823x in use 10 years experience

Fields of application

DS22-8250

Wind energy (Onshore, Nearshore, Offshore) Tidal power plant Robust industry environment

Internet: www.lenord.de E-Mail: info@lenord.de

Phone: +49 208 9963–0 Fax: +49 208 676292

Lenord, Bauer & Co. GmbH Dohlenstraße 32 46145 Oberhausen, GERMANY


Key panel

Key panel

① ② ③ ④ ⑤ ⑥ ⑦ ⑧

Function keys (key assignment depending on active window) Numerical keys Menu keys Delete entered value Abort entry/function and return to next higher menu level Confirm entry Selection keys Scrolling keys

The key panel is available in gray or black design .

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Lenord, Bauer & Co. GmbH

DS22-8250 (2014-10)


Technical data

Electrical data Supply voltage VS

19 to 30 V DC

Power consumption

1 A max. (depending on interface)

Interfaces Serial RS 232

2 (COM1/2), adjustable baud rate, for PC communication/ programming COM1: RS 232 C COM2: RS 232 C or RS 422/485

CAN bus

2 x onboard (master / slave)

Field bus

1 extension slot for PROFIBUS DP, InterBus-S or DeviceNet (others on request)

Inputs Counting inputs

6 × absolute SSI, power supply 24/5 V, 900/600 mA in total, clock frequency 125 kHz

Digital inputs (galvanically separated)

30 × 24 V, green LED status indicators

Analogue inputs (galvanically separated)

3 x selectable alternatively 0 to 10 V or 0 to 20 mA

PT100 inputs (galvanically separated)

4, -40 °C to +215 °C

Outputs Digital outputs (galvanically separated)

9 × 24 V, 30 mA 6 × 24 V, 500 mA red LED status indicators

Analogue outputs (galvanically separated)

3 × ±10 V, max. 10 mA, 2 mV resolution

PLC Memory

programme: 256 KByte data: 128 KByte data backup: 128 KByte NV RAM: 4 KByte

Programming

according to IEC 61131-3, CODESYS environment

Ambient data Protection class

front side: IP 65, rear side: IP 20

Operating temperature

-20 °C to +70 °C

Storage temperature

-40 °C(1) to +70 °C

Relative humidity of air

95 %, non-condensing

Vibration resistance (IEC 60068, 2-6)

20 m/s2, 9 to 50 Hz

EMC

EN 61000-6-2 and 4(2)

Display Display

LCD 64×240 px with LED backlighting; visible area 133 × 39 mm

Housing Material

galvanized sheet steel

Front panel

edge-protected aluminium

Weight

approx.1.7 kg

(1) (2)

at -40 °C with relative humidity of 0% for 200 h storable When using the device in residential areas or in commercial or industrial environments the requirements as to electromagnetic emission defined in EN 61000-6-3 can be complied with by applying additional shieldings and filters.

DS22-8250 (2014-10)

Lenord, Bauer & Co. GmbH

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Pin assignment

Comprehensive survey

1

2

3

Z1

Z2

Z3

C2

E1

E6

E5 E2

E4

E3

V A1

A3

A2

C1

1, 2, 3 Incremental or SSI encoder (axis 1, 2 or 3) * Ground connection with 6.3 tab connector

Terminal strip V (power supply 24 V) E5 Signal

⊥Z

Function

Terminal strip C2 (CAN bus) E5 Signal

GND

GND

⊥ C GND

⊥ B GND

GND

1+

CAN 1_H

UB

24 V DC

logic supply

1-

CAN 1_L

UZ

24 V DC (Z)

encoder supply (terminal strips Z1, Z2, Z3)

2+

CAN 2_H

2-

CAN 2_L

PLC designation IW63

Function analogue+ analogue-

IW61

analogue+ analogue-

IW62

analogue+

Dip switch for termination

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Lenord, Bauer & Co. GmbH

DS22-8250 (2014-10)


Pin assignment

Terminal strip Z1, Z2, Z3 (actual-value for axis 1, 2 or 3) Z1 / Z2 / Z3

⊥ E GND (Z) 5V

5V

24 V

GND encoder

SSI

GND encoder

Function

GND encoder Terminal strip V

+5 V DC Out

supply *

Terminal strip V

24V +24 V DC Out

supply **

Terminal strip V

C

CLK_SSI+

clock+

A

INCR_1+/Data_SSI+ track 1

track 1

data+

INCR_1-/Data_SSI-

track

***

data-

INCR_2+

track 2

track 2

INCR_2-

track

***

INCR_N+

reference signal N reference signal N

INCR_N-

reference signal

CLK_SSI-

B

N

clock0°, counter, data

90°, direction, data

reference fine

***

* from terminal strip V (UZ) internally regulated to 5 V. ** direct from terminal strip V (UZ) *** NC (inverse signals must not be connected.)

Terminal strip E1, E2, E3, E4 (digital inputs) E1 / E2 / Signal E3 / E4

PLC designation E1

E2

E3

E4

⊥ I2

⊥ I3

⊥ I4

Function

⊥ IX

GND

⊥ I1

0

Input

IX1.0 IX2.0 IX3.0 IX4.0 *

1

Input

IX1.1 IX2.1 IX3.1 IX4.1 *

2

Input

IX1.2 IX2.2 IX3.2 IX4.2 *

3

Input

IX1.3 IX2.3 IX3.3 IX4.3 *

4

Input

IX1.4 IX2.4 IX3.4 IX4.4 *

5

Input

IX1.5 IX2.5 IX3.5 IX4.5 *

6

Input

IX2.6 IX3.6 IX4.6 *

7

Input

IX2.7 IX3.7 IX4.7 *, PLC run for I3.7

Optocoupler supply**

* Assignment (start, stop) defined by technology function selected; can be adapted at any time. ** Terminal strips not interconnected

DS22-8250 (2014-10)

Lenord, Bauer & Co. GmbH

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Pin assignment

Terminal strip E5 (analogue input) PT100 input(-40 ... +350 °C)

Terminal strip E6 (analogue input) (current: 0 ... 20 mA or voltage: 0 ... 10 V)

E5 Signal PLC designation Function Analogue In- ⊥

/AE 1.4

E6 Signal

GND

Analogue In+ 4+ AE 1.4 IW54

analogue

Analogue In- ⊥

GND

/AE 1.5

Analogue In+ 5+ AE 1.5 IW55

analogue

Analogue In- ⊥

GND

/AE 1.6

Analogue In+ 6+ AE 1.6 IW56

analogue

Analogue In- ⊥

GND

/AE 1.7

Analogue In+ 7+ AE 1.7 IW57

Analogue In- ⊥

PLC designaFunction tion

/AE 1.1

Analogue In+ 1+ AE 1.1 IW61

analogue+

Analogue In- ⊥

analogue-

/AE 1.2

Analogue In+ 2+ AE 1.2 IW62

analogue+

Analogue In- ⊥

analogue-

/AE 1.3

Analogue In+ 3+ AE 1.3 IW63

analogue

analogue-

analogue+

Each input can be switched from current to voltage input by a jumper delivery state: current input

Terminal strip A1, A2, A3 (output for axis 1, 2 or 3) PLC designation

A1 / A2 Signal A3

GND

A1

A2

A3

⊥ Q1

⊥ Q2

⊥ Q3

0

Function driver ** 0 V ***

1

QW10

QW20

QW30

±10 V

2

supply

24 V DC In 24 V DC In 24 V DC In

driver **

3

30 mA output

QX1.0

QX2.0

QX3.0

*

4

30 mA output

QX1.1

QX2.1

QX3.1

*

5

30 mA output

QX1.2

QX2.2

QX3.2

*

6

500 mA output QX1.3

QX2.3

QX3.3

7

500 mA output QX1.4

QX2.4

QX3.4

* Assignment (start, stop) defined by technology function selected; can be adapted at any time. ** Terminal strips not interconnected *** Terminal strips interconnected

Connector C1 (9–poliger D-Subminiaturstecker)

Termination of COM1 / RS 422 / RS 485 by dip switch

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Lenord, Bauer & Co. GmbH

DS22-8250 (2014-10)


Menu structure

Start-up and service Due to plain-language programming and a menu-guided service program, parameter setting for motor axes is userfriendly and easy to learn. The service program is an integral part of the operating system and thus always available when the PLC start input I3.7 is low (the PLC starting otherwise with its own LCD ouputs).

DS22-8250 (2014-10)

The option texts and the limit values displayed for each parameter ensure simple and fast start-up even without any supplementary documention. The main window with the branching structure shown below appears on display shortly after applying the supply voltage.

Lenord, Bauer & Co. GmbH

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PLC

PLC programming environment

The CODESYS programming languages

IEC 1131-3 is an international standard for programming languages adapted to stored-program control units. The programming languages realized in CODESYS are in conformity with the requirements of the standard. They can be mixed whenever needed and are partially convertible.

CODESYS supports all five languages as per IEC 61131-3. Instruction List (AWL)

The advantages of CODESYS General The CODESYS programming languages are standardized. The CODESYS programming languages can be freely mixed with one another. Fast compiler. One file per project. Comfortable editor Automatic declaration of variables (auto declare). Automatic formatting of variables (auto format). Input assistance. Global find-and-replace function. Context-sensitive help. Context-sensitive menu.

Ladder Diagram (KOP)

Functions Block Diagram (FUP)

Comfortable online debugging Online tracing of variables and their graphical representation. Setting of breakpoints. Single Step Visible online variables without creating a list. Changing the variables while the control system is in operation. Structured text (ST)

Sequential Function Chart (AS)

Continuous Function Chart (CFC)

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Lenord, Bauer & Co. GmbH

DS22-8250 (2014-10)


PLC

Context-sensitive help function CODESYS offers universal context-sensitive online help. It can be started by simply highlighting the respective keyword and by pressing key F1.

Automatic declaration of variables After the entry of a still undeclared variable, a dialog box will appear where this variable can be declared. The new variable will then be transferred automatically in the correct format to the declaration part of the editor.

Context-sensitive menu Automatic formatting of variables

Clicking the right mouse button gives access to the most important commands within the entire working area.

During the declaration of a variable, the new variable will be automatically taken over into the declaration part of the editor in the correct format, including its initial values and address.

DS22-8250 (2014-10)

Lenord, Bauer & Co. GmbH

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Function libraries, Integrated positioning controller GEL 8251 function libraries

Integrated positioning controller

In addition to the PLC standard modules available in the CODESYS, Lenord + Bauer offer further function libraries for the GEL 8251 which are supplied with the device. Among other things, they offer the following advantages:

A positioning controller and the necessary hardware for up to six axes are already integrated in the GEL 8251. Therefore, no additional modules will be needed. The GEL 8251 offers the following control options:

Complete, comprehensive and complex technology functions for quick and economic solutions. Simple, comfortable, self-explaining function blocks. Comfortable display control. Simple field bus communication with all MotionLine devices. Integrated in the GEL 8251 operating system, therefore no utilization of PLC recources.

In binary form through a rapid feed/creep feed/stop function. In analog form through a ± 10 V interface. In digital form through a CANopen interface. For the traversing of axes, the GEL 8251 function library offers the following group of modules: Jog mode commands. Commands for automatic referencing. Positioning commands for servo drives (± 10 V and CAN bus). Positioning commands for rapid feed/creep feed/stop axes. Stop commands. Commands for setting and interrogating information such as the axis status. The screenshot below shows a section of the CODESYS library manager. This is to depict its clearly arranged structure.

The GEL 8251 function libraries include the most important function modules for: Positioning of axes. Reading in of positions and speeds. Reading in and reading out of digital and analog signals. Field bus communication. PWM output. Parameter management. Memory management. Display control and device information. These CODESYS modules are solely based on functions of the GEL 8251 operating system and will thus not use up any PLC resources. The following function libraries are available to the GEL 8251: Standard.lib MC825x_Basic.lib MC825x_HMI_Basic.lib MC825x_HMI_Techno.lib

Integrated Positioning Controller Normal scan time

1 ms per activated axis

Ramps

Linear ramp with adjustable jerk limination

Types of control

In binary from through the rapid feed/creep feed/stop function In analog from through the ± 10 V interface In digital form through the CANopen interface

Controllable axes

6

In analog from through the ±10 V interface and, alternatively. in binary from through the rapid feed/creep feed/ stop function

3 axes

In digital from through the CANopen interface

4

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Lenord, Bauer & Co. GmbH

DS22-8250 (2014-10)


Dimension

Dimension 112,5

7,5

67,5 49,4

82,9

19

112,5

16,8 164

20,8

240

190

17

21

116 158

M4

175

7,5

40

Mounting frame GK 2063 (for vertical cable outlet)

DS22-8250 (2014-10)

Lenord, Bauer & Co. GmbH

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Type code

Type code Variant (Inputs, Outputs) 1 standard (DI:30; DO:15; AI:3; PT100:4; AO:3) Key panel A black B grey Software version 200 CODESYS 2.3 (3 axis, 6 SSI encoder) - - - no software GEL 825 _ _ _ _ _ Accessories (included in scope of supply) Article-no.

Description

BG 4622

14 hex screws M3 x 10, 14 cable bride, 2 earthing terminals, 14 toothed lock washers

BG 4623

6 hex screws M4, 6 washer, 6 spring washers, 2 earthing terminals

CD 8251_-

CD-ROM GEL 8251 (including manual as pdf file)

CD 8251_200

CD-ROM GEL 8251 with software version 200 (including manual as pdf file)

Accessories (optional) GEL 89022

RS 232 C connection cable between PC and MotionPLC

GEL 89043

Counterplug set

GEL 89130

Fieldbus module (PROFIBUS-DP)

GEL 89131

Fieldbus module (InterBus-S)

GEL 89132

Fieldbus module (DeviceNet)

GEL 89133

Fieldbus module (Ethernet)

GK 2063

Mounting frame: 6 hex screws M3 x 10 6 tooth lock washers

D-01G-8251

Manual GEL 8251 (printed)

Subject to technical modifications and typographical errors. The latest version can be downloaded at www.lenord.com. 12

Lenord, Bauer & Co. GmbH

DS22-8250 (2014-10)

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