Lenze E94P PositionServo with MVOB - Manual (Page 50)

48 L S94H201E_13426446_EN
Parameters
5.3.1 Drive Mode
The PositionServo has 3 operating mode selections: Torque, Velocity and Position.
For Torque and Velocity modes the drive will accept an analog input voltage on the AIN1+ and AIN1- pins
of P3 (refer to section 4.3.1). This voltage is used to provide a torque or speed reference.
For Position mode the drive will accept step and direction logic signals or a quadrature pulse train on pins
P3.1- P3.4.
5.3.1.1 Torque Mode
In torque mode, the servo control provides a current output proportional to the analog input signal at input
AIN1, if parameter “Reference” is set to “External”. Otherwise the reference is taken from the drive’s
internal variable. (Refer to the PositionServo Programming Manual for details)
For analog reference “Set Current”, (current the drive will try to provide), is calculated using the following
formula:
Set Current(A) = Vinput(Volt) X Iscale (A/Volt)
where:
• Vinput is the voltage at analog input
• Iscale is the current scale factor (input sensitivity) set by the Analog input
(Current Scale) parameter (section 5.5.4).
5.3.1.2 Velocity Mode
In velocity mode, the servo controller regulates motor shaft speed (velocity) proportional to the analog input
voltage at input AIN1, if parameter “Reference” is set to “External”. Otherwise the reference is taken from
the drive’s internal variable. Refer to the PositionServo Programming Manual for details.
For analog reference, Target speed (set speed) is calculated using the following formula:
Set Velocity (RPM) = Vinput (Volt) x Vscale (RPM/Volt)
where:
• Vinput is the voltage at analog input (AIN1+ and AIN1-)
• Vscale is the velocity scale factor (input sensitivity) set by the Analog input
(Velocity scale) parameter (section 5.5.5).
5.3.1.3 Position Mode
In this mode the drive reference is a pulse-train applied to P3.1-4 terminals, if the parameter “Reference”
is set to “External”. Otherwise the reference is taken from the drive’s internal motion commands. (Refer to
the PositionServo Programming Manual for details).
P3.1-4 inputs can be configured for two types of signals: step and direction and Master encoder quadrature
signal. Refer to section 4.2.1 for details on these inputs connections. Refer to section 6.4 for details about
positioning and gearing.
When the Reference is set to Internal, the drives reference position, (theoretical or Target position), is
generated by trajectory generator. Access to the trajectory generator is provided by motion statements,
MOVEx and MDV, from the User Program. Refer to the PositionServo Programming Manual for details.
5.3.2 Reference
The REFERENCE setting selects the reference signal being used by the drive. This reference signal can be
either External or Internal. An External Reference can be one of three types, an Analog Input signal, a Step
and Direction Input or an Input from a external Master Encoder. The Analog Input reference is used when the
drive is either in torque or velocity mode. The Master Encoder and Step and Direction reference is used when
the drive is in position mode. An Internal Reference is used when the motion being generated is derived from
drive’s internal variable(s), i.e., User Program. Refer to the PositionServo Programming Manual.