Lenze E94P PositionServo with MVOB Manual de usuario descargar pdf (Pagina 44)

42 L PM94H201B_13xxxxxx_EN

Programming

2.8 System Variables and Flags Summary

2.8.1 System Variables

Section 3.2 provides a complete list of the system variables. Every aspect of the PositionServo can be controlled by

the manipulation of the values stored in the System Variables. All System Variables start with a “VAR_” followed by the

variable name. Alternatively, System Variables can be addressed as an @NUMBER where the number is the variable

Index. The most frequently used variables also have alternate names as listed in Table 11.

Table 11: System Variables

Index Variable Access Variable Description Units

181 ACCEL R/W Acceleration for motion commands User Units/Sec

71 AIN1 R Analog input. Scaled in volts. Range from -10 to +10 volts V(olt)

72 AIN2 R Analog input 2. Scaled in Volts. Range from -10 to +10 volts V(olt)

88 AOUT R/W Analog output. Value in Volts. Valid range from -10 to +10 (V)

(2)

V(olt)

215 APOS R/W Actual motor position User Units

190 APOS_PLS R/W Actual Motor Position Encoder Counts

182 DECEL R/W Deceleration for motion commands User Units/Sec

83 DEXSTATUS R Drive Extended Status Word -

54 DSTATUS R Status ﬂags register -

DFAULTS R Fault code register -

245 HOME W Start Homing (pre-deﬁned homing) -

INDEX R Lower 8 bits are used. See ASSIGN statement for details. -

184 INPOSLIM R/W Maximum deviation of position for INPOSITION Flag to remain set User Units

65 INPUTS R Digital Inputs states. The ﬁrst 12 bits correspond to the 12 drive inputs -

139 IREF W Internal Reference: Velocity / Torque RPS/A

187 MECOUNTER R Master Encoder Counts (Master Encoder Input) Encoder Counts

180 MAXV R/W Maximum velocity for motion commands User Units/Sec

140-171 NV0 - NV31 R/W User Network Variables -

66 OUTPUTS R/W Digital outputs. Bits #0 to #4 represent outputs 1 through 5 -

216 PERROR R Position Error Feedback Pls

191 PERROR_PLS R Position Error User Units

48 PGAIN_D R/W Position loop D-gain -

47 PGAIN_I R/W Position loop I-gain -

49 PGAIN_ILIM R/W Position loop I gain limit -

46 PGAIN_P R/W Position loop P-gain -

188 PHCUR R Motor phase current A(mpere)

183 QDECEL R/W Quick Deceleration for STOP MOTION QUICK statement User Units/Sec

213 RPOS R Registration position. Valid when system ﬂag F_REGISTRATION set User Units

212 RPOS_PLS R Registration position Feedback Pls

218 TA R Commanded acceleration User units/Sec

214 TPOS R/W Theoretical/commanded position User Units

219 TPOS_ADV W Theoretical/commanded position advance Feedback Pls

189 TPOS_PLS R/W Theoretical/commanded position Feedback Pls

217 TV R Commanded velocity in User Units/Sec

186 UNITS R/W User Units scale.

(1)

UserUnits/Rev

185 VEL R/W Set Velocity when in velocity mode User Units/Sec

44 VGAIN_P R/W Velocity loop P-gain -

45 VGAIN_I R/W Velocity loop I-gain -

100-131 V0 - V31 R/W User Variables

(1)

When a “0”, (zero), value is assigned to the variable “UNITS”, then “USER UNITS” is set to QUAD ENCODER COUNTS.

(2)

Any value outside +/- 10 range assigned to AOUT will be automatically trimmed to that range.

1 2 ... 39 40 41 42 43 44 45 46 47 48 49 ... 139 140

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Lenze E94P PositionServo with MVOB Manual de usuario Pagina 44

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