Lenze i950

Address Name / seng range / [default seng] Info
0x6067 Posion window
0 ... [1000] ... 4294967295 pos. unit
Seng of the symmetrical tolerance window around the target posion
(0x607A) f
or the target posion detecon.
If the actual posion is within this tolerance window longer than the
me dened in 0x6068 in [ms], the target posion is deemed to be
reached and bit 10 ("target posion reached") is set in the CiA402 status
word (0x6041).
0x6068 Posion window me
0 ... [0] ... 0 ms
Seng of me monitoring for the target posion detecon.
0 ≡ the posion in the target window is evaluated without a me delay.
9.1.2 Interpolaon
When you select an operang mode with cyclic setpoint selecon, all setpoints are rst led via
in
terpolators which divides down setpoint step-changes of the bus cycle to the cycle me of
the control loops.All interpolators together are parameterised via 0x60C2:001 ( Interpolaon
me period value ).
Parameter
Address Name / seng range / [default seng] Info
0x60C0 Interpolaon sub mode select Seng of the interpolaon algorithm.
-1 Quadrac
Interpolaon
0 Linear Interpolaon
0x60C2:001 Interpolaon me period : Interpolaon me period
value
0 ... [1] ... 255
Basic mulplier for the interpolaon me interval.
0x60C2:002 Interpolaon me period : Interpolaon me index
-6 ... [-3] ... 0
Exponent for the interpolaon me interval.
(0 60 2:002)
( 3)
0 60 2 : 001*10
1*10 0.001 1
x C
t x C
t s s ms
-
=
= = =
Congure posion control
Basic seng
Interpolaon
157