Lenze 9400 Manual de usuario Pagina 578
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11 Basic drive functions
11.14 Pole position identification
578
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
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Behaviour after mains ON
Behaviour after encoder error
Behaviour after resolver error
Initial situation 1 Behaviour after mains ON
• PPI_bPolePositionAvailable = TRUE
• Motor control (C00006
) = "1: SC: Servo control sync.
motor"
• Resolver - number of pole pairs (C00080
) > 1
PPI_bPolePositionAvailable is only reset to FALSE if:
• Motor encoder selection (C00495
) = "0: Resolver to
X7"
AND
• The number of motor pole pairs are (C00059
no
integer multiple of the number of resolver pole pairs
(C00080
).
Examples:
MSC motor
Motor - number of pole pairs = 4
Resolver - number of pole pairs = 1
The PPI_bPolePositionAvailable output is not
reset to
FALSE.
Kuka motor
Motor - number of pole pairs = 4
Resolver - number of pole pairs = 4
Torque motor
Motor - number of pole pairs = 12
Resolver - number of pole pairs = 6
Initial situation 2 Behaviour after mains ON
• PPI_bPolePositionAvailable = TRUE
• Motor control (C00006
) = "1: SC: Servo control sync.
motor"
• Encoder type (C00422
) =
• "0: Incremental encoder (TTL signal)" or
• "1: Sine/Cosine encoder"
• Motor encoder selection (C00495
) = "1: Encoder to
X8"
PPI_bPolePositionAvailable is reset to FALSE.
Initial situation Behaviour after encoder error
• PPI_bPolePositionAvailable = TRUE
• Motor control (C00006
) = "1: SC: Servo control sync.
motor"
• Encoder type (C00422
) =
• "0: Incremental encoder (TTL signal)" or
• "1: Sine/Cosine encoder" or
• Motor encoder selection (C00495
) = "1: Encoder to
X8"
PPI_bPolePositionAvailable is reset to FALSE.
Initial situation Behaviour after resolver error
• PPI_bPolePositionAvailable = TRUE
• Motor control (C00006
) = "1: SC: Servo control sync.
motor"
• The number of motor pole pairs are (C00059
no
integer multiple of the number of resolver pole pairs
(C00080
).
• Motor encoder selection (C00495
) = "0: Resolver to
X7"
PPI_bPolePositionAvailable is reset to FALSE.
- Reference manual 1
- E94AxHExxxx 1
- Contents 10
- 1 About this documentation 12
- 2Introduction 15
- 3 Commissioning 22
- %LW 37
- %LW 37
- RAM Memory module MM 87
- Cam dataCam data 87
- Cam application 87
- Controller inhibit 97
- 4 Drive interface 100
- Danger! 101
- LS_DriveInterface 110
- 5 Motor interface 115
- Actual value 191
- Set value 191
- LS_MotorInterface 231
- LS_Feedback 237
- 6 Encoder evaluation 238
- Feed constant ( 36) 245
- 66,BGZ'DWDZRUGB 254
- 66,BGZ'DWDZRUGB 254
- 66,BGZ'DWDZRUGB 254
- LS_EncoderX8 260
- 7Braking operation 266
- 8 I/O terminals 273
- AIN1_dnIn_n 276
- AIN1_bCurrentError 276
- AIN2_dnIn_n 276
- AOUT1_dnOut_n 278
- AOUT2_dnOut_n 278
- DIGIN_bStateBusIn 284
- DIGOUT_bStateBusOut 284
- LS_TouchProbex 285
- L_SdTouchProbe 285
- LS_TouchProbeMotor 289
- LS_TouchProbeLoad 289
- 9.1 General information 293
- 9.1.2 Supported protocols 294
- 9.1.3 Communication time 295
- DIP switch 64 32 16 8 4 2 1 296
- Value 0 0 296
- 16 0 4 2 1 296
- 9.2.2 Setting the baud rate 297
- CAN-RUN CAN-ERR 298
- 9.4.1 Identifier 299
- 9.4.2 User data 301
- 9.5.1 State transitions 303
- &2%,' 304
- Parameter Info Lenze setting 305
- C00352 CAN slave/master Slave 305
- 9.6 Process data transfer 306
- 9.6.2 Transmission type 308
- Value Unit 309
- SYNC SYNC 310
- 9.6.5.1 Parameter setting 311
- ( 364) 312
- 9.7 Parameter data transfer 315
- 9.7.2 User data 316
- 9.7.2.1 Command 317
- 9.7.2.3 Data 1 ... data 4 319
- 9.7.2.4 Error messages 319
- 0x41 0x00 0x04 0x06 320
- Meaning of the error codes 321
- 9.7.3.1 Reading parameters 322
- 9.7.3.2 Writing parameters 323
- 9.8 Diagnostics 327
- 9.9 Monitoring 328
- 9.9.1 Node guarding protocol 328
- 9.9.1.1 Telegram structure 329
- 9.9.1.2 Parameter setting 330
- 9.9.1.3 Commissioning example 332
- ( 329) 333
- 9.9.2 Heartbeat protocol 334
- 9.9.2.1 Telegram structure 335
- 9.9.2.2 Parameter setting 335
- 9.9.2.3 Commissioning example 337
- 9.9.3 Emergency telegram 338
- LS_SyncInput 364
- Data type 365
- 10 Safety engineering 366
- LS_SafetyModuleInterface 368
- 11 Basic drive functions 372
- Controller not ready 374
- STP_dnState 385
- STP_bStopActive 385
- Activate stopping 385
- (internal status machine) 385
- LS_Quickstop 388
- Actual speed 393
- LS_ManualJog 396
- LS_ManualJogOpenLoop 414
- LS_Homing 418
- LS_Positioner 475
- LS_PositionFollower 486
- LS_SpeedFollower 492
- LS_TorqueFollower 498
- LS_Limiter 502
- GIRFRDI1DI2DI3DI4DI5DI6DI7DI8 511
- LS_DigitalInput 511
- LS_Brake 519
- GO24ODO1DO2DO3DO4 523
- C02586: Starting torque 1 532
- C02587 532
- : Starting torque 2 532
- C02588 532
- : Source of starting torque 532
- C02588 = 1 533
- Speed controller 533
- BRK_dnTorqueAdd_n 534
- C2605/1 C2605/2 550
- BRK_bReleaseBrakeOut 551
- 24VDCDigital I/O 551
- How to update the cam data: 557
- /6B&DP,QWHUIDFH 558
- 11.13.3.2 Online change mode 562
- How to change a cam: 566
- Product number 567
- LS_PolePositionIdentification 571
- 12 Oscilloscope 579
- How to change a selection: 583
- How to delete a selection: 583
- 13.1 LED status displays 598
- DRIVE READY DRIVE ERROR 599
- 13.4 Logbook 603
- 13.4.1 Functional description 604
- Cause Remedy 609
- Bit 31 1625262829 015 610
- 0001111011 613
- 0000000000001111 613
- 13.7.2 Reset error message 614
- 13.7.3 Short overview (A-Z) 615
- 184: Basic drive functions 53 712
- 14 Parameter reference 713
- )(('%$& 952
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