Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 130)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Position control function
130
L
EDS94TA11010xxxx EN 1.2 - 03/2010
3.10.6.2 Torque feedforward control
In automatic operation (mode 2/12) the brake control offers the possibility of
precontrolling the required torque of the drive when the brake is released.
Via C02588 it is selected whether a parameterised starting torque or the torque
memorised during the last closing operation shall be used for the feedforward control.
 When setting C02588 = 0, bit 1 of the 0x60FB/2 object (brake control) can be used to
switch between two starting torques:
– Bit 1 = 0: starting torque 1 (C02586) is used.
– Bit 1 = 1: starting torque 2 (C02587) is used.
 When C02588 = 1, the starting torque is the setpoint which has been automatically
memorised during the last closing process (falling below the speed threshold set in
C02581).
[3-12] Torque feedforward control

Note!
The torque is precontrolled for one second. During this time, the actual torque
must have reached 90 % of the set torque, otherwise a fault is tripped!

Note!
The higher the threshold for brake activation set in C02581, the higher is the
dynamic part in the memorised torque (e.g. the speed-dependent friction
torque).
In the special case that the load changes when the brake is closed, a correction
value, which is added to the memorised torque, can be defined for the torque
feedforward control via the 0x60FB/3 object (brake torque add).
n C02586: Starting torque 1
o C02587: Starting torque 2
p C02588: Starting torque source
1
0
BRK_bStartingTorque2
C02586
Œ

C02587
1
0
C02588 = 0
Ž
S&H
CTRL
Speed controller
Brake control
0x60FB/2
BRK_dnTorqueAdd_n
Brake torque add
0x60FB/3
Bit 1