4 setpoint selection, 5 setpoint interpolation, Setpoint selection – Lenze E94AxHE Technology Application CiA402 Device profile User Manual
Page 153: Setpoint interpolation

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous velocity mode (IEC 61800-7)
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets specified in the signal flow represent internal variables of
the motor control which can be recorded with the oscilloscope for diagnostic and
documentation purposes.
3.13.4
Setpoint selection
The speed setpoint for the speed follower is selected via the
object (target velocity).
object (offset velocity) to additionally define an offset which is added to
the speed setpoint.
The torque feedforward control value is selected via the
object (target torque). Use
the
object (torque offset) to additionally define an offset which is added to the
torque feedforward control value.
3.13.5
Setpoint interpolation
Similar to the "
", the resulting position setpoint is interpolated
in this operating mode as well, if the communication cycle time differs from the control
cycle time of the controller (1 ms).
For the determination of the required interpolation steps the
(interpolation time period) is used.
No. Variable of the motor control
Meaning
(1)
Torque.dnTotalTorqueAdd
Additive torque feedforward control value
(2)
Torque.dnTorqueSetpoint
Torque setpoint
(3)
Speed.dnTotalSpeedAdd
Additive speed setpoint
(4)
Speed.dnSpeedSetpoint
Speed setpoint
(5)
Speed.dnActualMotorSpeed
Current motor speed