Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 148)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous position mode (IEC 61800-7)
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.12.7 Basic function "Position follower"
The "Position follower" basic function based on the "Cyclic synchronous velocity mode"
serves as setpoint interface for position-controlled drives.
 The specified position setpoint can either refer to the encoder on the motor side or to
the (position) encoder used additionally to detect the machine position. The selection
of the encoder configuration serves to adapt the internal control structure accordingly.
 If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the gearbox ratio available, the use of the control signals can be
accordingly changed over by means of parameterisation.
 The speed can also be precontrolled with the position setpoint by a corresponding
selection in C02681. Then, the speed is calculated by differentiation of the position
setpoint.
Lenze parameters (short overview)
Parameter Lenze setting
Value Unit
C00050/1 Speed setpoint 1 - rpm
C00070 Speed controller gain 0.00700 Nm/rpm
C00071 Speed controller reset time 10.0 ms
C00072 Speed controller rate time 0.00 ms
C00254 Phase controller gain 20.00 1/s
C00273/1 Motor moment of inertia Motor-dependent kg cm 2
C00273/2 Load moment of inertia 0.00 kg cm 2
C00275 Signal source - speed setpoint SpeedAdd signal
C00276 Signal source - torque setpoint TorqueAdd/AccAdd signal
C00909/1 Upper speed limit value 175.0 %
C00909/2 Lower speed limit value -175.0 %
C02527 Motor mounting direction Motor rotating CW
C02531/3 Effective gearbox factor (dec.) -
C02550/1 Position setpoint interpolat. Off
C02550/3 Torque setpoint interpolat. Off
C02553 Position controller gain 20.00 1/s
C02554 Position controller reset time 60.000 s
C02555 D component position controller 0.000
C02556 Pos. contr. limitation 214748,3647 Unit/s
C02559/1 Upper int. torque limit - %
C02559/2 Lower int. torque limit - %
C02570 Position control structure Phase control
C02680 Position setpoint source Position setpoint input
C02681 Added speed source Add. speed input