Lenze i950

9.2.2 Signal ow
I
q
I
d
M
Interpolation
Target position
Velocity offset
Torque offset
Position
controller
Speed ctrl.: Load I component
Position actual value
Positive torque limit value
Negative torque limit value
Speed
limitation
Speed
controller
Torque
limitation
Encoder
evaluation
Field-orientated
control
Torque actual valueVelocity actual value
Congure posion control
Operang mode "CiA 402 Cyclic sync posion mode (csp)"
Signal ow
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