Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 139)

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Interpolated position mode
3.11.4 Setpoint selection
The position setpoint for the position follower is selected via the subindex 1 (X1) of the
0x60C1 object (Interpolation data record).
 Furthermore, the following objects are available for speed and torque feedforward
control:
 The setpoints can be supplied to the common limit functions for speed, acceleration,
and braking.
3.11.5 Setpoint interpolation
If the communication cycle time differs from the control cycle time of the controller (1 ms),
the setpoint for the position follower will be interpolated. For this purpose, the drive
accepts one interpolation data setpoint per cycle and calculates for each interpolation
cycle the value displayed in the 0x6062 object (position demand value) by interpolating the
position over a specific period.
 The interpolation algorithm to be used is defined by the 0x60C0 object (interpolation
sub mode select) and is preset to linear interpolation.
 For synchronous operation, the interpolation cycle time is defined by the 0x60C2 object
(interpolation time period):
[3-2] Definition of the interpolation cycle time

Tip!
For an interpolation cycle time of e.g. 2 ms, the value "2" must be set in
0x60C2/1
(ip time units) and the value "3" must be set in 0x60C2/2 (ip time index).
 For a time coordination of the connected controllers, the 0x60C3 synchronisation
object (interpolation sync definition) is normally used.
Index Name Data type Object type
0x60B2 Torque offset INTEGER_32 VAR
0x6071 Target torque INTEGER_32 VAR
0x60B1 Offset velocity INTEGER_32 VAR
0x60FF Target velocity INTEGER_32 VAR
0x60C2/1 : ip time units
0x60C2/2 : ip time index
Interpolation cycle time s [ ] ip time units 10
ip time index
s [ ] ⋅ =