Lenze i700 - Manual (Page 165)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
165
7 CiA402 device profile
7.1 Supported drive modes
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7.1 Supported drive modes
Setpoint interpolation in the operating modes with a cyclic setpoint selection
When an operating mode with cyclic setpoint selection is selected, first all setpoints are controlled
via interpolators, which divide the setpoint step-changes down from the bus cycle to the cycle time
of the control loops. All interpolators are parameterised commonly via the "Interpolation time
period" object ( 0x60C2 or 0x68C2 for axis B).
7.2 Applied units and scaling for position and velocity
CiA402 - drive modes Can be used with
Servo control V/f characteristic
control
Velocity mode (vl)
• Speed control
 
Cyclic sync velocity mode (csv)
• Speed control with interpolation of the speed setpoint.
 
Cyclic sync torque mode (cst)
• Torque control with interpolation of the torque setpoint.

Cyclic sync position mode (csp)
• Position control with interpolation of the position setpoint.

Name Unit Scaling
CiA402 position Pos unit 2 16 ... 2 30 [Pos unit] ≡ 360°
Depending on the position encoder resolution set ( 0x608F or
0x688F for axis B).
Internal position Incr. 2 32 [Incr.] ≡ 360°
CiA402 velocity r/min
Internal velocity n-unit ±2 31 [n-unit] ≡ ±480000 r/min