Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 146)

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
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.
3.12.4 Setpoint selection
The position setpoint is selected via the 0x6071 object (target position). Use the 0x60B2
object (offset position) to additionally define an offset which is added to the position
setpoint.
The speed feedforward control value is selected via the
0x60FF object (target velocity). Use
the 0x60B1 object (offset velocity) to additionally define an offset which is added to the
speed setpoint.
The torque feedforward control value 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.
3.12.5 Setpoint interpolation
Similar to the " Interpolated position mode ", 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 0x60C2 object
(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) Position.dnActualLoadPos Actual position
(4) Position.dnPositionSetpoint Position setpoint
(5) Position.dnActualMotorPos Current motor position
(6) Position.dnContouringError Following error
(7) Speed.dnOutputPosCtrl Output signal - phase controller
(8) Speed.dnSpeedSetpoint Speed setpoint
(9) Speed.dnActualMotorSpeed Current motor speed