Lenze E94P PositionServo with MVOB - Manual (Page 44)

42 L PM94H201B_13xxxxxx_EN
Programming
2.8 System Variables and Flags Summary
2.8.1 System Variables
Section 3.2 provides a complete list of the system variables. Every aspect of the PositionServo can be controlled by
the manipulation of the values stored in the System Variables. All System Variables start with a “VAR_” followed by the
variable name. Alternatively, System Variables can be addressed as an @NUMBER where the number is the variable
Index. The most frequently used variables also have alternate names as listed in Table 11.
Table 11: System Variables
Index Variable Access Variable Description Units
181 ACCEL R/W Acceleration for motion commands User Units/Sec 2
71 AIN1 R Analog input. Scaled in volts. Range from -10 to +10 volts V(olt)
72 AIN2 R Analog input 2. Scaled in Volts. Range from -10 to +10 volts V(olt)
88 AOUT R/W Analog output. Value in Volts. Valid range from -10 to +10 (V) (2) V(olt)
215 APOS R/W Actual motor position User Units
190 APOS_PLS R/W Actual Motor Position Encoder Counts
182 DECEL R/W Deceleration for motion commands User Units/Sec 2
83 DEXSTATUS R Drive Extended Status Word -
54 DSTATUS R Status flags register -
DFAULTS R Fault code register -
245 HOME W Start Homing (pre-defined homing) -
INDEX R Lower 8 bits are used. See ASSIGN statement for details. -
184 INPOSLIM R/W Maximum deviation of position for INPOSITION Flag to remain set User Units
65 INPUTS R Digital Inputs states. The first 12 bits correspond to the 12 drive inputs -
139 IREF W Internal Reference: Velocity / Torque RPS/A
187 MECOUNTER R Master Encoder Counts (Master Encoder Input) Encoder Counts
180 MAXV R/W Maximum velocity for motion commands User Units/Sec
140-171 NV0 - NV31 R/W User Network Variables -
66 OUTPUTS R/W Digital outputs. Bits #0 to #4 represent outputs 1 through 5 -
216 PERROR R Position Error Feedback Pls
191 PERROR_PLS R Position Error User Units
48 PGAIN_D R/W Position loop D-gain -
47 PGAIN_I R/W Position loop I-gain -
49 PGAIN_ILIM R/W Position loop I gain limit -
46 PGAIN_P R/W Position loop P-gain -
188 PHCUR R Motor phase current A(mpere)
183 QDECEL R/W Quick Deceleration for STOP MOTION QUICK statement User Units/Sec 2
213 RPOS R Registration position. Valid when system flag F_REGISTRATION set User Units
212 RPOS_PLS R Registration position Feedback Pls
218 TA R Commanded acceleration User units/Sec 2
214 TPOS R/W Theoretical/commanded position User Units
219 TPOS_ADV W Theoretical/commanded position advance Feedback Pls
189 TPOS_PLS R/W Theoretical/commanded position Feedback Pls
217 TV R Commanded velocity in User Units/Sec
186 UNITS R/W User Units scale. (1) UserUnits/Rev
185 VEL R/W Set Velocity when in velocity mode User Units/Sec
44 VGAIN_P R/W Velocity loop P-gain -
45 VGAIN_I R/W Velocity loop I-gain -
100-131 V0 - V31 R/W User Variables
(1) When a “0”, (zero), value is assigned to the variable “UNITS”, then “USER UNITS” is set to QUAD ENCODER COUNTS.
(2) Any value outside +/- 10 range assigned to AOUT will be automatically trimmed to that range.