Lenze E94P PositionServo with MVOB - Manual (Page 16)

14 L PM94H201B_13xxxxxx_EN
Introduction
Click [OK] to dismiss this dialog box. MotionView will then load the selected file to the drive. When complete, a second
dialog box will appear indicating ‘indexer program compiled and downloaded successfully’. Click [OK] too clear this
message. Load of the configuration file is now complete.
Motion source (Reference)
The PositionServo can be set up to operate in one of three modes: Torque, Velocity, or Position. The drive must be
given a command relative to its mode of operation before it can initiate any motion. The source for commanding this
motion is referred to as the “Reference”. With the PositionServo you have two methods of commanding motion, or
two types of References. When the drive’s reference signal is from an external source, for example a PLC or Motion
Controller, it is referred to as an External Reference. When the drive is being given its reference from the User program
or through one of the system variables it is referred to as an Internal Reference.
Table 3: Setting the Reference
“Reference” Parameter Setting
Mode External Internal
Torque Analog input AIN1 System variable “IREF”
Velocity Analog input AIN1 System variable “IREF”
Position
Step/Direction Inputs
Master Encoder Pulse Train Inputs
User Program/Interface
(Trajectory generator)
Units
All motion statements in the drive work with User units. The statement on the first line of the test program, UNITS=1,
sets the relationship between programming units and motor revolutions. For example, if UNITS=0.5 the motor will turn
1/2 of a revolution when commanded to move 1 Unit. When the UNITS variable is set to zero, programming units for
motion will be in motor feedback pulses (User units set to 1 divided into motor feedback pulses).
Time base
Time base for motion is always in seconds i.e. all time-related values are set in USER UNITS/SEC.
Time Base for programming statements (such as wait statements) are always in milliseconds.
Enable/Disable/Inhibit drive
Set “Enable switch function” to “Run”.
When the “Enable switch function” parameter is set to Run, and the Input A3 is made, the drive will be enabled. Likewise,
toggling input A3 to the off state will disable the drive.
- Select [IO] then [Digital IO] from the Parameter Tree Window.
- Select “Enable switch function” from the Parameter View Window.
- Select “Run” from the drop down menu. This setting is primarily used when operating without any user pro-
gram in torque or velocity mode or as position follower with Step&Direction/Master Encoder reference.
Set “Enable switch function” to “Inhibit”.
In the example of the Enable switch function being set to Run the decision on when to enable and disable the drive is
determined by the logic status of input A3 (typically controlled by an external device, PLC or Motion controller). The
PositionServo’s User Program allows the programmer to define (control) within their program the enable and disable
of the drive through execution of program statements. The drive will execute the User Program whether the drive is
enabled or disabled, however if a motion statement is executed while the drive is disabled, an F27 fault will occur. If the
user program commands the drive to enable and Input A3 (hardware enable) is not present or Input A3 is removed and
the drive is enabled through programming then the drive will trip on Fault 36.