Lenze PM94P01C - Manual (Page 123)

PM94P01C 121
Reference
3.3.3 Quick Start - Internal Torque/Velocity
Table 67: Internal Torque/Velocity Mode
Connections for Internal Torque/Velocity: I/O (P3) Variable References for Internal Torque/Velocity
Pin Name Function
20 AIN2+ Positive (+) of Analog signal input
21 AIN2- Negative (-) of Analog signal input
22 ACOM Analog common
23 AO1 Analog output
24 AIN1+ Positive (+) of Analog signal input
25 AIN1 - Negative (-) of Analog signal input
26 IN_A_COM Digital input group A COM terminal
27 IN_A1 Digital input A1
28 IN_A2 Digital input A2
29 IN_A3 Digital input A3
30 IN_A4 Digital input A4
31 IN_B_COM Digital input group B COM terminal
32 IN_B1 Digital input B1
33 IN_B2 Digital input B2
34 IN_B3 Digital input B3
35 IN_B4 Digital input B4
36 IN_C_COM Digital input group C COM terminal
37 IN_C1 Digital input C1
38 IN_C2 Digital input C2
39 IN_C3 Digital input C3
40 IN_C4 Digital input C4
41 RDY+ Ready output Collector
42 RDY- Ready output Emitter
43 OUT1-C Programmable output #1 Collector
44 OUT1-E Programmable output #1 Emitter
45 OUT2-C Programmable output #2 Collector
46 OUT2-E Programmable output #2 Emitter
47 OUT3-C Programmable output #3 Collector
48 OUT3-E Programmable output #3 Emitter
49 OUT4-C Programmable output #4 Collector
50 OUT4-E Programmable output #4 Emitter
Index Name EPM R/W Description
29 VAR_ENABLE_SWITCH_TYPE Y R/W Enable switch function: 0-inhibit only, 1- Run
34 VAR_DRIVEMODE Y R/W Drive mode selection: 0-torque 1-velocity, 2-position
37 VAR_REFERENCE Y R/W Reference source: set to 1 - internal
(for ‘internal torque’ or ‘internal velocity’ mode)
44 VAR_VP_GAIN Y R/W Velocity loop Proportional gain Range: 0 - 32767
45 VAR_VI_GAIN Y R/W Velocity loop Integral gain Range: 0 - 16383
51 VAR_VREG_WINDOW Y R/W Gains scaling coefficient Range: -5 - +4
52 VAR_ENABLE N W Software Enable/Disable: 0 – disable, 1 - enable
58 VAR_VLIMIT_ZEROSPEED Y R/W Zero Speed value Range: 0 - 100
59 VAR_VLIMIT_SPEEDWND Y R/W Speed window Range: 10 - 10000
60 VAR_VLIMIT_ATSPEED Y R/W Target speed for velocity window
Range: -10000 - +10000
71 VAR_AIN1 N R Analog Input AIN1 current value
72 VAR_AIN2 N R Analog Input AIN2 current value
75 VAR_ENABLE_ACCELDECEL Y R/W Enable Accel/Decel (velocity mode),
0 – disable, 1 - enable
76 VAR_ACCEL_LIMIT Y R/W Accel value for velocity mode
Range: 0.1 - 5000000
77 VAR_DECEL_LIMIT Y R/W Decel value for velocity mode
Range: 0.1 - 5000000
139 VAR_IREF N R/W Internal ref Current or Velocity mode
192 VAR_CURRENT_VEL_PPS N R Current velocity in PPS (pulses per sample)
193 VAR_CURRENT_ACCEL_PPSS N R Current acceleration (demanded value) value
217 VAR_CURRENT_VEL N R Current velocity (demanded value)
218 VAR_CURRENT_ACCEL N R Current acceleration (demanded value)
Positional Mode Language Reference - Enable/Disable
Command Syntax Long Name
DISABLE DISBALE Turns OFF Servo output
ENABLE ENABLE Turns ON Servo output
Note 1: Connections highlighted in BLUE are mandatory/necessary for operation in this mode.