Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 183)

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Firmware 1.37 - 09/2006 183
9400 HighLine | Parameter setting & configuration
Basic drive functions
Position follower
9.7 Position follower
This basic function is used as setpoint interface for position-controlled drives.
r The specified position setpoint can either refer to the encoder on the motor side or to
the (load) encoder used additionally to detect the machine position. The selection of
the encoder configuration serves to adapt the internal control structure accordingly.
r Instead of a position setpoint a speed setpoint can be specified as well by a
corresponding selection in C02680 . Then, the set position is calculated by integrating
the speed setpoint based on the current actual position (relative positioning).
r As an option, an internal interpolation of the setpoints can be carried out in order to
specify setpoints with reduced cycle rates without the drive behaviour being unsteady.
The detection of the cycle rate and the synchronisation of the setpoint transfer is
carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.
r 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.