Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 198)

9400 HighLine | Parameter setting & configuration
Basic drive functions
Torque follower | Activating setpoint interface
198 Firmware 1.37 - 09/2006
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9.9.3 Activating setpoint interface
Requirements
r The controller is in the device state "Operation".
r The basic function "Torque follower" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input T F_bEnable in the
application must be set to TRUE.
r If no other basic function is active, it is changed to the function state "Torque follower
active" and the motor control is automatically switched to torque control with speed
limitation. Setpoints can now be defined via the corresponding inputs. Signal flow
r A successful change to the function state "Torque follower active" is displayed by a
TRUE signal at the status output TF_bEnabled.
Deactivation
When the enable input TF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output TF_bEnabled is reset to FALSE and a changeover from the active
function state "Torque follower active" via the function state "Drive is stopped" back to
th basic state "Drive in standstill" is effected.

Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!