Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 163)

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous torque 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.
3.14.4 Setpoint selection
The torque setpoint for the torque follower is selected via the 0x6071 object (target
torque). Use the 0x60B2 object (torque offset) to additionally define an offset which is
added to the torque feedforward control value.
The
0x60F6/1 object (positive speed limit) serves to define the positive speed limit and the
0x60F6/2 object (negative speed limit) serves to define the negative speed limit for speed
limitation.
3.14.5 Setpoint interpolation
Similar to the " Interpolated position mode ", the resulting torque 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 0x60C2 object
(interpolation time period) is used.
No. Variable of the motor control Meaning
(1) Speed.dnSpeedSetpoint Speed setpoint
(2) Speed.dnActualMotorSpeed Current motor speed