Commissioning – Lenze ECSCPxxx User Manual
Page 196
Commissioning
Setting the positioning profile
Electrical shaft ("E−shaft") per digital frequency, MotionBs (CAN) or EtherCAT
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196
EDBCSXP064 EN 8.0
6.17.5
Electrical shaft ("E−shaft") per digital frequency, MotionBs (CAN) or EtherCAT
C3095/x = 30, 31 or 32
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The drive performs a ratio synchronisation.
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C3095/x = 30:
"Electrical shaft" with setpoint selection via digital frequency input X8 via TTL
rectangular differential signal.
Setting sequence see
^ 215.
ƒ
C3095/x = 31:
"Electrical shaft" with setpoint selection via the process data channel of the MotionBus
(CAN) X4. The master value is defined as 32−bit angle setpoint at X4 (CAN, Rx−PDO2).
– Definition as DWORD (word3/4)
– Scaling: 2
16
inc/rev (motor)
Activate the control program synchronization via CAN sync telegram.
Setting sequence see
^ 217 159.
ƒ
C3095/x = 32:
"Electrical shaft" with setpoint selection via the process data channel of the
EMF2192IB EtherCAT communication module at the AIF interface (X1). The master
value is defined as 32−bit angle setpoint at X1 (AIF, Rx−PDO1).
– Definition as DWORD (word3/4)
– Scaling: 2
16
inc/rev (motor)
Activate the control program synchronization via EtherCAT sync telegram.
Setting sequence see
^ 224.
ƒ
The stretch factor for setting the ratio between master and slave drive is defined as
numerator (C3097) / denominator (C3 098):
– Permissible value range C3097: −32767 ... +32767
– Negative values cause a reversal of the rotation direction.
– Permissible value range C3098: 1 ... 32760
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The stretch factor can be changed during the running positioning profile.
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The machine parameters for the gearbox ratio (C1202/C1203,
effect on positioning and have no impact on the "electrical shaft" drive function.
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No ramps are created. Therefore it is only reasonable to activate/deactivate the
function when the master value encoder is at standstill.
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The following errors are switched off at the limit value (C3031).
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In case of an exceedance of the following error warning tolerance C3030, the
warning "FollowErrWarn" will be enabled. The status bit Stat2.FollowErrWarn will be
set to "1" (TRUE).
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In case of a known reference (status bit Stat1.HomePosAvailable = 1), the software
limit switches will be monitored.
ƒ
The compensation of speed−proportional angular offsets is effected via C4060.