Hardware/software current control .................................................................................. 380
Sinus filter ....................................................................................................................... 380
Speed search .................................................................................................................. 386
Protection functions (ramp stop, current limitation in open-loop (v/f) operation) ............ 386
DC braking ...................................................................................................................... 389
6.3 Speed controller ............................................................................................................ 395
Overview ......................................................................................................................... 395
PI-speed controller .......................................................................................................... 396
Variable proportional factor ((system deviation) ............................................................. 398
Variable proportional/integral factor (speed) ................................................................... 399
Speed controller adjustment via process data ................................................................ 400
Determination of the mass moment of inertia ................................................................. 401
Speed controller PT1 output filter ................................................................................... 402
Torque precontrol ............................................................................................................ 403
Speed setpoint deceleration ........................................................................................... 410
6.4 Torque limits .................................................................................................................. 412
Physical torque limits ...................................................................................................... 412
application-dependent torque limits ................................................................................ 413
6.5 Position control ............................................................................................................. 415
Position values ................................................................................................................ 415
Position control mode ..................................................................................................... 418
Position controller............................................................................................................ 418
Following error ................................................................................................................ 421
6.6 Structure position / speed control .............................................................................. 422
7 I/O functions ................................................................................. 423
7.1 Digital Inputs ................................................................................................................. 423
Overview ......................................................................................................................... 423
Terminal state ................................................................................................................. 424
Selection of the input source ........................................................................................... 425
External setting of the input state.................................................................................... 426
Inversion of the digital input state ................................................................................... 426
Filter for the digital inputs ................................................................................................ 427
Controlword inputs CW 1 / CW 2 .................................................................................... 427
Overview of the evaluation of digital inputs .................................................................... 431
Functions of the digital inputs ......................................................................................... 432
Overview of the input functions ....................................................................................... 446
7.2 Digital outputs ............................................................................................................... 448
Control type K (COMPACT) ............................................................................................ 448
Control type A (APPLICATION) ...................................................................................... 448
Control type P (Pro) ........................................................................................................ 448
Functional overview ........................................................................................................ 449
Display internal digital outputs ........................................................................................ 449
Source selection for the digital outputs ........................................................................... 450
External setting of the output state ................................................................................. 452
Output signal generation ................................................................................................. 452
Function blocks ............................................................................................................... 454
Variable operands (not available for compact cards) ..................................................... 461
Generation of the linked function blocks ......................................................................... 462
Generation of the internal outputs................................................................................... 463
Inversion of the digital output state ................................................................................. 465
Overcurrent of the digital outputs .................................................................................... 465
7.3 Analog inputs ................................................................................................................ 466
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