Lenze 931K - Manual (Page 38)

Commissioning
"Positioning" mode
PNUs for parameter setting
6
l
38 KHB 13.0004−EN 2.1
6.6.6 PNUs for parameter setting
PNU Name Possible settings Characteristics
Lenze Selection Description
1000 0 Position Set
Number
68 Ċ UINT16 RW Ċ
0 ... 63 Standard position data sets Position data sets of the
controller. The selected data
set can be parameterised via
PNU 1001.
For position data set 68,
additional settings can be
transferred via bits 4, 12 and
13 of control word 1.
64 ... 67 Reserved
68 PROFIBUS position data set
1001 Position Data Ċ INT32 RW Ċ
Parameterisation of the
position data set selected via
PNU 1000.
0 Target Position 0 −32768 {1 inc} 32768 Target position
1 Profile Velocity 1000 0 {1 rpm} 3000 Travelling speed
3 Acceleration
Positioning
10000 0 {1 rpm/s} 20000 Acceleration
4 Deceleration
Positioning
10000 0 {1 rpm/s} 20000 Deceleration
5 All Accelerations
Positioning
10000 0 {1 rpm/s} 20000 Acceleration and deceleration
l Writes the set value to
PNU 1001.3 and
PNU 1001.4.
l Reads out PNU 1001.3
only.
1002 0 Start Set Number 68 Ċ UINT8 RW Ċ
0 ... 63 Standard position data sets When positioning is started
via control word 1, the
selected data set is activated.
64 ... 67 Reserved
68 PROFIBUS position data set
1003 0 Motion Profile Type 0 Ċ UNIT16 RW Ċ
0 Jerk−limited ramp is deactivated The acceleration/deceleration
time of the ramp cannot be
adjusted. When the ramp is
activated, the maximum time
(50 ms) is set automatically.
2 Jerk−limited ramp is activated
1050 0 Homing Method 1 Ċ INT8 RW Ċ
Homing to Selection of the homing
method to be used.
1 the negative limit switch with zero
pulse evaluation
2 the positive limit switch with zero
pulse evaluation
17 the negative limit switch
18 the positive limit switch
33, 34 the zero pulse
35 the actual position (no movement)
−1 the negative end stop with zero pulse
evaluation
−2 the positive end stop with zero pulse
evaluation
−17 the negative end stop
−18 the positive end stop