Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario Pagina 148
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous position mode (IEC 61800-7)
148 L EDS94TA11010xxxx EN 1.2 - 03/2010
3.12.7 Basic function "Position follower"
The "Position follower" basic function based on the "Cyclic synchronous velocity mode"
serves as setpoint interface for position-controlled drives.
The specified position setpoint can either refer to the encoder on the motor side or to
the (position) encoder used additionally to detect the machine position. The selection
of the encoder configuration serves to adapt the internal control structure accordingly.
If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the gearbox ratio available, the use of the control signals can be
accordingly changed over by means of parameterisation.
The speed can also be precontrolled with the position setpoint by a corresponding
selection in C02681. Then, the speed is calculated by differentiation of the position
setpoint.
Lenze parameters (short overview)
Parameter Lenze setting
Value Unit
C00050/1 Speed setpoint 1 - rpm
C00070 Speed controller gain 0.00700 Nm/rpm
C00071 Speed controller reset time 10.0 ms
C00072 Speed controller rate time 0.00 ms
C00254 Phase controller gain 20.00 1/s
C00273/1 Motor moment of inertia Motor-dependent kg cm
2
C00273/2 Load moment of inertia 0.00 kg cm
2
C00275 Signal source - speed setpoint SpeedAdd signal
C00276 Signal source - torque setpoint TorqueAdd/AccAdd signal
C00909/1 Upper speed limit value 175.0 %
C00909/2 Lower speed limit value -175.0 %
C02527 Motor mounting direction Motor rotating CW
C02531/3 Effective gearbox factor (dec.) -
C02550/1 Position setpoint interpolat. Off
C02550/3 Torque setpoint interpolat. Off
C02553 Position controller gain 20.00 1/s
C02554 Position controller reset time 60.000 s
C02555 D component position controller 0.000
C02556 Pos. contr. limitation 214748,3647 Unit/s
C02559/1 Upper int. torque limit - %
C02559/2 Lower int. torque limit - %
C02570 Position control structure Phase control
C02680 Position setpoint source Position setpoint input
C02681 Added speed source Add. speed input
- 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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