Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 190)

9400 Technology applications | CiA402 device profile
Step-by-step commissioning
Torque/feed force feedforward control
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EDS94TA11010xxxx EN 1.2 - 03/2010
4.7 Torque/feed force feedforward control
The source for the torque/feed force feedforward control can be selected in C00276
(CiA402 object 0x5EEB).
 The following options are available:
– The source for feedforward control is the 0x6071 object (target torque).
– The value for feedforward control is derived from the 0x60FF object (target velocity).
– The value for the feedforward control is double-derived from the position data.
 If you select the interpolation algorithm 0x60C0 = "-11: Optimized mode 1", the
feedforward control values are generated from the interpolation process.
4.8 Controller settings
In the Lenze setting, the controllers are already set to sensible values. To optimise the
control mode, the following parameters can be changed:
4.9 Final steps
1. Go online.
2. Download the application into the controller.
3. Confirm Dialog box Save parameter set with Yes, all devices.
4. Confirm Dialog box Start application with Yes, all devices.
5. Confirm Dialog box Enable controller with Yes, all devices.
6. Control applications via terminals or network.
Parameter Object Information
C00254 0x5EED Phase controller gain
C00070 0x5FB9 Speed controller gain
C00071 0x5FB8 Speed controller reset time

Note!
The downloaded application is basically stored in the first application memory
location of the controller.
The preinstalled technology applications on the following memory locations are
still available.