Lenze PM94P01C - Manual (Page 124)

PM94P01C 122
Reference
Example Internal Torque Program
;Program slowly increases Motor Torque until nominal motor current is reached
VAR_DriveMode = 0
;Set Drive to Torque mode
VAR_Reference = 1 ;Set Reference to Internal control
Program Start:
IREF = 0
;Reset Torque Reference to 0(Amps)
Wait While !In_A3 ;Wait while Enable input is OFF
Enable ;Enable Drive
Torque_Loop:
Wait Time 500
;Set time between step increases in Torque
If REF < VAR_CurrentLimit ;If Set Torque < Motor Nominal Torque
IREF = IREF+0.1 ;Then increase by 0.1(Amps)
GOTO Torque_Loop ;Loop to next torque increase
Else
Goto Program_Start ;Else restart program
Endif
END
Example Internal Velocity Program
;Program slowly increases and decreases Motor Velocity between Maximum Velocity Forward direction and
;Maximum Velocity Reverse direction producing a saw-tooth velocity profile.
Define MaxVelocityRPS 60
;Enter Maximum Velocity (RPS) value here
Define VelocityStepRPS 1 ;Define Velocity INC/DEC per Step/Program Loop (RPS)
Define VelocityStepTime 200 ;Define Time for Velocity Steps in mS
Define Velocity_Inc_Dec V0 ;Define a Variable to identify if Velocity is currently INC/DECreasing
VAR_DriveMode = 1 ;Set Drive to Velocity mode
VAR_Reference = 1 ;Set Reference to Internal control
VAR_Enable_AccelDecel = 1 ;Enable Accel/Decel Ramps
VAR_Accel_Limit = 3000 ;Set Accel Rate required in RPS^2
VAR_Decel_Limit = 3000 ;Set Decel Rate required in RPS^2
Program Start:
IREF = 0
;Reset Velocity Reference to 0(RPS)
Wait While !In_A3 ;Wait while Enable input is OFF
Enable ;Enable Drive
Velocity_Loop:
Wait Time VelocityStep Time
;Set Time between Step Increases/Decreases in Velocity (mS)
If REF <= MaxVelocityRPS ;If Current Motor Velocity < MaxVelocityRPS
IREF = IREF+VelocityStepRPS ;Then increase Velocity by VelocityStepRPS
Else
Velocity_Inc_Dec = 1 ;Set Variable to start decreasing velocity
Endif
Else ;If Speed Decreasing
If REF >= -1* MaxVelocityRPS ;If Current Motor Velocity > -MaxVelocityRPS
IREF = IREF-VelocityStepRPS ;Then decrease Velocity by VelocityStepRPS
Else
Velocity_Inc_Dec = 0 ;Set Variable to start increasing velocity
Endif
Endif
Goto Velocity_Loop
;Loop to next Velocity Increase/Decrease
END ;End Code - Never Reached
On Fault ;Fault Handler
Resume Program_Start ;Resume at Program Start
EndFault