5.4.3 Speed Word (16-bit, signed)
FB02 Command Speed has a resolution of 0.001 m/s when in m/s mode (US02=0), and
a resolution of 0.1 ft/min when in ft/min mode (US02=1).
There is no dependence on the gear type (geared or gearless, US03 Motor Type). The
scaling from FPM to RPM is done internally according to the machine data parameters:
LN01 Traction Sheave Diameter, LN02 Gear Reduction Ratio, and LN03 Roping Ratio.
Additional scaling of the raw speed value is available in the fieldbus parameters FB06
Speed Scale Multiplier and FB07 Speed Scale Shift Right (Divide).
5.4.4 Pre-torque (16-bit, signed)
-125%...0...+125% Rated Motor Torque
5.4.5 Absolute Target Position
Method 1: Raw Counts
Method 2: 1 Raw = 1/10th inch
Additional scaling of the raw position value is available in the fieldbus parameters FB08
Position Scale Multiplier and FB09 Position Scale Right Shift (Divide).
5.5 Serial Speed DIN66019, Service 49
RS485 serial communication DIN66019, Service 49 protocol includes 4x16-bit process
data inputs. The process data inputs are then mapped to the corresponding functions:
• Field Bus Speed
• Control Word
• Pre-torque
• Position
The serial communication controls the speed via the process data input assigned as field
bus speed. The maximum high speed value must be set in LS02.
The speed profile acceleration, deceleration and jerk rates are externally generated by
the controller. It is possible to allow the drive to generate the profiles by setting LS15 =
Internal Profile (4) and adjusting the according High Speed Profile Rate Profiles.
The direction is determined by the sign of the field bus speed, although a direction signal
is needed to control the start and stop routines. Either a hardware or serial bus input can
be utilized. Either or both up and down inputs can be used for direction, but the direction
selected does not matter since the actual direction is determined by the sign of the field
bus speed. Software directions can be controlled via direction bits in the process data
input assigned as control word or assigned to software inputs Fb21-27 as Up (25) or
Down (26) direction and controlled via the control word. Hardware digital inputs can be
assigned in LI04-11 as Up (25) or Down (26). If both serial bus control word direction and
hardware direction inputs are used, LI15 Direction Selection Inputs determines whether
they are OR (0: Up and Down inputs) or AND (2: Up & Down AND serial control word)
activated; if a serial bus input is assigned as direction (as opposed to the Control Word
direction bits), the hardware and software inputs are OR activated. If both hardware and
software direction inputs are used, the selected direction must match. If both Up and
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