Lenze Drive PLC Developer Studio 9300 Servo PLC (V8.x) - Manual (Page 63)

9300 Servo PLC
System blocks
2.12 MCTRL_MotorControl (node number 131)
2−49
L
9300 Servo PLC EN 5.0
2.12.4 Torque setpoint / additional torque setpoint
MCTRL_nMAdd_a is − depending on the setting of MCTRL_bNMSwt_b − used as a torque setpoint
or as an additional torque setpoint.
Torque setpoint
With MCTRL_bNMSwt_b = TRUE, the torque control is active.
·
MCTRL_nMAdd_a acts as a torque setpoint.
·
The speed controllers have a monitoring effect.
·
The torque setpoint is selected in [%] of the max. possible torque.
– Negative values mean a torque with CCW rotation of the motor.
– Positive values mean a torque with CW rotation of the motor.
·
The max. possible torque is set under C0057:
Code LCD Possible settings Info
Lenze Selection
C0057 Max torque g Maximum possible torque of the drive
configuration
·
Dependent on C0022, C0086
0.0 {0.1 Nm} 500.0
Additional torque setpoint
With MCTRL_bNMSwt_b = FALSE, the speed control is active.
·
MCTRL_nMAdd_a is added to the output of the speed controller.
·
The limits given by the torque limitation (MCTRL_nLoMLim_a and MCTRL_nHiMLim_a) cannot
be exceeded.
·
The additional torque setpoint can, for instance, be used for friction compensation or to add
acceleration (dv/dt).