Operating mode-independent functions
4.8.9.1 System inversion
According to the definition, the motors rotate with positive setpoints in clockwise
rotation when looking at the motor shaft. If this is not required, the real motor direc-
tion can be changed by this parameter. After activating the system inversion with
co06 = 2, nothing changes except the physical direction of rotation of the motor: an
adjusted positive speed setpoint causes a positive speed actual value display and
a positive torque display with positive speed display indicates motorized operation.
Ramps, limits and similar are not affected. All settings and displays therefore re-
main consistent. The display of both encoder channels is inverted to the physical
direction of rotation.
The old type of system inversion is still supported for reasons
of compatibility. The parameter displays are only partially
consistent, since some parameters still display the real value
and not the inverted value. Therefore, always use value 2 for
the system conversion in new applications.
on, plus encoder
inversion ChA +
ChB
The system inversion is realized by the internal change in the
control of two motor phases (UW). Additionally both en-
coder channels (A and B) are inverted. This only changes
the real, physical direction of rotation of the motor.
4.8.9.2 Torque precontrol from spline-interpolator / ramp generator
A set torque is calculated from the internal speed difference of the ramp generator
or the interpolator in the cyclic operating modes, depending on the mass moment
of inertia (cs17 + dr32). This torque precontrol can be fine adjusted with factor
co20.
Evaluation of torque pre-control from interpolator
or ramp generator
Contrary to older firmware versions, a precontrol value is currently calculated from
the spline-interpolator also at value 0 (linear interpolation) and value 3 "B-spline 3
points average“.
Adjustment 2 "reference torque“ can always be used in cs21 pretorque mode. (De-
scription of the torque precontrol => Chapter 6.3.8 Torque precontrol)
The speed or position interpolator calculates the torque for precontrol, based
on the acceleration profile and the mass moment of inertia of motor and load.
Therefore, the correct setting of dr32 and cs17 must be ensured.
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