Lenze i950 - Page 6

9 Congure
posion control
152
9.1
Basic seng
153
9.1.1
Following error detecon and in-posion detecon
154
9.1.2 Interpolaon 155
9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 156
9.2.1
Default mapping
156
9.2.2
Signal ow
157
9.2.3
Control commands and status informaon
159
9.3
Process input data (CiA 402 objects)
160
9.4
Process output data (CiA 402 objects)
161
9.5
Monitoring the posion error
162
9.6 Posion detecon with touch probe (TP) 163
9.6.1
Default mapping
163
9.6.2
General mode of operaon
164
9.6.3
Filtering of the touch probe signal
164
9.6.4 Compensaon of runme delays 165
9.6.5
Touch probe control word
166
9.6.6
Touch probe status word
166
9.6.7
Extension for the digital inputs DI3 and DI4
167
9.6.8
Detected me stamp and posions
167
9.7
Setpoint diagnoscs
168
10 Congure speed control 169
10.1
Basic seng
169
10.2 Operang mode "CiA 402 Velocity mode (vl)" 170
10.2.1
Default mapping
170
10.2.2
Signal ow (servo control)
171
10.2.3
Signal ow (V/f characterisc control)
173
10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 175
10.3.1
Default mapping
175
10.3.2
Signal ow (servo control)
176
10.3.3
Signal ow (V/f characterisc control)
178
10.3.4
Control commands and status informaon
180
10.4
Process input data (CiA 402 objects)
181
10.5
Process output data (CiA 402 objects)
183
10.6
Monitoring the speed deviaon
184
11 Conguring the torque control 185
11.1
Basic seng
186
11.1.1
Torque limits
187
11.1.2
Speed limitaon
188
11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 189
11.2.1
Default mapping
189
11.2.2
Signal ow
190
11.2.3
Control commands and status informaon
192
11.3
Process input data (CiA 402 objects)
193
11.4
Process output data (CiA 402 objects)
195
11.5
Setpoint diagnoscs
196
Contents
6