Lenze i950

9.6.4 Compensaon of
runme delays
In reality, both the input circuit in the servo inverter and the touch probe sensor have runme
delays (latencies) themselves. These can be taken into account in the calculaon of the real
trigger me and thus the real posion at the trigger me.
In the following gure, the event is detected in the servo inverter at the me ②. Due to the
input circuit and the sensor used, the signal runme, however, has been delayed. The real
physical event has already occurred at me ①. For compensang this runme delay, you can
set a corresponding delay me for each touch probe channel that is included in the determi-
naon of the control cycle and interpolaon of the posion, see gure in chapter "General
mode of operaon". ^ 166
1
2
p
n-1
p
n-2
Position
t
Event received
Event
Delay time
p
n
"Delay
me":
Delay
me between the real physical event and the electrical detecon.
①
Real physical event
②
Electrical detecon of the event in the servo inverter
Delay mes of the digital input and the required minimum signal duraon
The following table lists the typical delay mes and the required minimum signal duraons for
the digital inputs of the servo inverter:
Digital signal Typical delay me Minimum signal duraon
Rising edge (HIGH pulse) 4 µs 4 µs
Falling edge (LOW pulse) 4 µs 4 µs
Parameter
Address Name / seng range / [default seng] Info
0x2D00:001 Touch probe (TP) delay me: Touch probe 1 delay
me
0.000 ... [0.000] ... 7.000
ms
Seng of the delay me for touch probe 1.
0x2D00:002 Touch probe (TP) delay me: Touch probe 2 delay
me
0.000 ... [0.000] ... 7.000 ms
Seng of the delay me for touch probe 2.
0x2D00:003 Touch probe (TP) delay me: Touch probe 3 delay
me
0.000 ... [0.000] ... 7.000 ms
Seng of the delay me for touch probe 3.
0x2D00:004 Touch probe (TP) delay me: Touch probe 4 delay
me
0.000 ... [0.000] ... 7.000 ms
Seng of the delay me for touch probe 4.
Congure posion control
Posion
detecon with touch probe (TP)
Compensaon of runme delays
167