Lenze ECSEM Series User Manual

Contents i
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7
EDBCSXM064 EN 11.0
6.7 Setting of the feedback system for position and speed control 109 . . . . . . . . . . . . . . .
6.7.1 Resolver as position and speed encoder 110 . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Resolver as absolute value encoder 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 TTL/SinCos encoder as position and speed encoder 113 . . . . . . . . . . . . . . . .
6.7.4 TTL/SinCos encoder as position encoder and resolver
as speed encoder 117 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.5 Absolute value encoder as position and speed encoder 121 . . . . . . . . . . . . .
6.7.6 Absolute value encoder as position encoder and resolver
as speed encoder 126 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Selecting the control interface (C4010) 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Process data to the axis module (control word Ctrl1 and setpoints) 131 . . . . . . . . . .
6.10 Process data from the axis module (status words and actual values) 134 . . . . . . . . .
6.10.1 Toggle−bit monitoring 136 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11 Entry of machine parameters 138 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Configuring the digital inputs and outputs 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.1 Digital inputs for communication via the
MotionBus (CAN) X4 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.2 Digital inputs for communication via the
automation interface (AIF) X1 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12.3 Setting the polarity of digital inputs and outputs 142 . . . . . . . . . . . . . . . . . .
6.13 Setting of homing parameters 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.1 Homing parameters 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.2 Homing modes 145 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.3 Shifting the zero position with regard to the home position
(offsets C3011, C3012) 155 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13.4 Example: Reference search with linear positioning axis 156 . . . . . . . . . . . .
6.13.5 Example: Reference search with continuous positioning axis 158 . . . . . . . .
6.14 Selection of the operating mode 160 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14.1 Operating mode "Interpolated Position Mode" (IP−Mode) 161 . . . . . . . . . . .
6.14.2 "Homing" operating mode 164 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14.3 "Manual jog" operating mode 165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14.4 "Velocity" operating mode 167 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15 Controller enable (CINH = 0) 169 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16 Following error monitoring (C3030, C3031) 170 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17 Evaluating and retracting from hardware limit switch 172 . . . . . . . . . . . . . . . . . . . . .
6.17.1 Evaluating hardware limit switches 172 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17.2 Retracting from hardware limit switches 172 . . . . . . . . . . . . . . . . . . . . . . . . .
6.18 Quick stop (QSP) 173 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Lenze ECSEM Series Specifications

General

Brand	Lenze
Model	ECSEM Series
Category	Control Unit
Language	English