Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario Pagina 126
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Position control function
126 L EDS94TA11010xxxx EN 1.2 - 03/2010
3.10.3 Signal flow
[3-10] Access to the position control via CiA402 device profile
3.10.4 Following error detection
The 0x6065
object (following error window) defines a symmetrical tolerance window
around the position setpoint for the purpose of following error detection.
If the tolerance window is set = "0", the following error detection is deactivated.
If the tolerance window is set > "0", the following error detection is activated, i.e. a
following error will be detected if the position value is outside this tolerance window.
For activated following error detection: If the following error is detected for a longer
time than the time in [ms] defined in object 0x6066
(following error time out),
– bit 13 ("following error") is set in object 0x6041
(statusword).
– the error response set in object 0x60FB/4
(following error reaction) is triggered.
– the "Following error" error message (with error number 0x3B40001) is entered into
the logbook.
Tip!
The 0x60F4
object (following error actual value) shows the current deviation of the
actual position value from the position setpoint.
3.10.5 In-position recognition
The 0x6067
object (position window) defines a symmetrical tolerance window around the
target position for the purpose of in-position recognition.
If the actual position value is inside this tolerance window, the target position is
deemed to be reached and bit 10 ("target position reached") is set in the 0x6041
object
(status word).
0x60FC
Position demand value*
0x60FB
Position control parameter set
0x6063
Position actual value*
Interpolation data configuration 0x60C4
Interpolation sync definition
0x60C3
Interpolation sub mode select
0x60C0
Interpolation time period
0x60C2
Closed
loop
position
control
0x60FA
Control effort
0x6065
Following error window
0x6066
Following error time out
0x6067
Position window
0x6068
Position window time
0x60F4
Following error actual value
0x6041
Statusword / Bit 10
0x6041
Statusword / Bit 13
0x60C1/1
X1
Unit
_p
Interpolation
0x607A
Target position
0x60B0
Offset position
Unit
_p
- L-force Runtime Software 1
- Contents 3
- 1 About this documentation 8
- About this documentation 9
- Conventions used 9
- 1.1 Conventions used 9
- Danger! 10
- 2 Short description 11
- DS402 State machine 14
- 16
- Drive initialisation 25
- Code: _______ 31
- Index 31
- 3.5.4 Object attributes 33
- Common entries 35
- 3.6.2 Motor data 40
- Device control 42
- Power on 47
- X0XX0000 55
- X0XX1000 59
- Parameter Lenze setting 61
- Factor group 65
- 3.9.1 Input and output data 74
- Input data 74
- Output data 74
- ( 82) 79
- Short overview 82
- ( 81) 83
- ( 80) 83
- CiA402 Homing method -2 84
- CiA402 Homing method -1 84
- CiA402 Homing method 01 85
- CiA402 Homing method 02 86
- CiA402 Homing method 03 87
- CiA402 Homing method 04 88
- CiA402 Homing method 05 89
- CiA402 Homing method 06 90
- CiA402 Homing method 07 91
- CiA402 Homing method 08 92
- CiA402 Homing method 09 93
- CiA402 Homing method 10 95
- CiA402 Homing method 11 96
- CiA402 Homing method 12 97
- CiA402 Homing method 13 99
- CiA402 Homing method 14 100
- Touch probe/zero pulse 100
- Reference switch 100
- CiA402 Homing method 15 101
- CiA402 Homing method 16 101
- CiA402 Homing method 17 102
- CiA402 Homing method 18 102
- CiA402 Homing method 19 103
- Homing switch 103
- CiA402 Homing method 20 104
- CiA402 Homing method 21 105
- CiA402 Homing method 22 106
- CiA402 Homing method 23 107
- CiA402 Homing method 24 108
- CiA02 homing method 25 109
- CiA402 Homing method 26 110
- CiA402 Homing method 27 111
- CiA402 Homing method 28 112
- CiA402 Homing method 29 113
- CiA402 Homing method 30 114
- CiA402 Homing method 31 115
- CiA402 Homing method 32 115
- CiA402 Homing method 33 115
- CiA402 Homing method 34 116
- CiA402 homing method 35 116
- Homing mode 118
- Grayed out = read access only 119
- Position control function 121
- Brake logic 128
- Monitoring 128
- UNSIGNED_32 VAR 131
- INTEGER_32 VAR 131
- Interpolated position mode 133
- 3.11.3 Signal flow 137
- Disable voltage 140
- Shutdown 140
- Quick stop 140
- Value Unit 141
- Data type: INTEGER_32 144
- 3.12.3 Signal flow 145
- 3.13.2 Object description 150
- 0x60FF - Target velocity 151
- Speed follower 152
- 3.14.2 Object description 157
- Power stage parameters 161
- Display area 161
- Torque follower 162
- Touch probe 167
- ( 182) 174
- ( 181) 174
- 3.21.3 CountMultiError 183
- 3.21.4 CountSingleError 183
- 3.21.5 DetectErrorLimit 183
- 3.21.6 DetectMultiError 184
- 3.21.7 DetectSingleError 184
- 3.21.8 DetectUnderVoltage 185
- 3.21.9 L_DevApplErr1 185
- 4 Step-by-step commissioning 186
- ( 188) 187
- Parameter Object Information 190
- 5 Parameter reference 191
- Cxxxxx 193
- Description 193
- Parameter 195
- Data type: _______ 195
- Index: _______ 195
- Parameter reference 199
- Parameter list 199
- Parameter list 200
- Parameter list 201
- Parameter list 202
- Parameter list 203
- Parameter list 204
- Parameter list 205
- Parameter list 206
- Parameter list 207
- Parameter list 208
- Parameter list 209
- Parameter list 210
- Parameter list 211
- Parameter list 212
- Parameter list 213
- Parameter list 214
- Parameter list 215
- Parameter list 216
- Parameter list 217
- Parameter list 218
- Parameter list 219
- Attribute table 221
- )(('%$ 230
- 109 87654321 232
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