Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 153)

EDS94TA11010xxxx EN 1.2 - 03/2010
L
153
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 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.
3.13.5 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) Speed.dnTotalSpeedAdd Additive speed setpoint
(4) Speed.dnSpeedSetpoint Speed setpoint
(5) Speed.dnActualMotorSpeed Current motor speed