6motor interface – Lenze E94AxPExxxx User Manual
Page 182
6
Motor interface
6.3
Adjusting motor and controller to each other
182
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
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• The rate of the current rise for the pole position identification can be adjusted proportionally in
. The Lenze setting "100 %" corresponds to the fixed rise rate setting.
• The P component of the PI controller for the pole position identification can be adjusted in
. With the Lenze setting "0", the PI controller continues to work as an I controller (as in
the previous software versions).
• The I component of the PI controller for the pole position identification can be adjusted in
. Please observe the following notes:
• The variable Position.dnActualMotorPos can be used to monitor the deviation of the position
from the start position with the
function in »Engineer«.
• In order to be able to compensate a position deviation faster, first the reset time in
should be reduced. If this does not result in the desired behaviour, the proportional gain can
be increased in
• Ensure that the position control does not get unstable. We therefore recommend to use an I
controller.
• The pole position identification comprises a monitoring function for the follow-up control. If a
movement greater than the permissible movement set in
is detected by the encoder
system:
• the pole position identification procedure is aborted.
• the response parameterised in
(Lenze setting: "Fault") is activated.
• the error message "Pole position identification cancelled" is entered into the logbook of the
controller.
• In order to detect a non-permissible blocking of the machine, a positive and negative test angle
relative to the current position are defined after the identification. The machine must align
itself to these two test angles within a tolerance of 25 %. The size of the test angle corresponds
to the max. permissible movement set in
Note!
If the current amplitude is set to 400 % in
>, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond and cause the
abort of the pole position identification.