Lenze i950 - Page 6

9 Congure
posion control
154
9.1
Basic seng
155
9.1.1
Following error detecon and in-posion detecon
156
9.1.2 Interpolaon 157
9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 158
9.2.1
Default mapping
158
9.2.2
Signal ow
159
9.2.3
Control commands and status informaon
161
9.3
Process input data (CiA 402 objects)
162
9.4
Process output data (CiA 402 objects)
163
9.5
Monitoring the posion error
164
9.6 Posion detecon with touch probe (TP) 165
9.6.1
Default mapping
165
9.6.2
General mode of operaon
166
9.6.3
Filtering of the touch probe signal
166
9.6.4 Compensaon of runme delays 167
9.6.5
Touch probe control word
168
9.6.6
Touch probe status word
168
9.6.7
Extension for the digital inputs DI3 and DI4
169
9.6.8
Detected me stamp and posions
169
9.7
Setpoint diagnoscs
170
10 Congure speed control 171
10.1
Basic seng
171
10.2 Operang mode "CiA 402 Velocity mode (vl)" 172
10.2.1
Default mapping
172
10.2.2
Signal ow (servo control)
173
10.2.3
Signal ow (V/f characterisc control)
175
10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 177
10.3.1
Default mapping
177
10.3.2
Signal ow (servo control)
178
10.3.3
Signal ow (V/f characterisc control)
180
10.3.4
Control commands and status informaon
182
10.4
Process input data (CiA 402 objects)
183
10.5
Process output data (CiA 402 objects)
185
10.6
Monitoring the speed deviaon
186
11 Conguring the torque control 187
11.1
Basic seng
188
11.1.1
Torque limits
189
11.1.2
Speed limitaon
190
11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 191
11.2.1
Default mapping
191
11.2.2
Signal ow
192
11.2.3
Control commands and status informaon
194
11.3
Process input data (CiA 402 objects)
195
11.4
Process output data (CiA 402 objects)
197
11.5
Setpoint diagnoscs
198
Contents
6