Lenze PMSS1000 Simple Servo - Manual (Page 6)

Indexer-Programmer-Manual.pdf REV 1.3
• Group ID
This parameter is used to combine different SSIs in functional groups. SSIs with the same group
ID can be communicated simultaneously with statement SENDTO. See statements SEND and
SENDTO for farther explanations.
• IP Properties
Displays properties and settings for Ethernet communication port.
I/O
• Output 0 (1,2,3) function
Every digital output except output #4 can be assigned special function
Refer to Section 1.6 to see list of available functions.
• Hard limit switches action.
Inputs A0 and A1 serve as Hard Limit switches inputs. If <No Action> option is selected then
inputs have no effect on SSi operation as can be used as general-purpose inputs. Refer to
Section 1.6 for detail on each action item.
Limits
Position Limits
• Position error
This parameter sets maximum allowable position error before "Position Excess Error" fault will be
generated. This parameter works in conjunction with "Max Error Time". Position Error is set in
primary motor encoder quadrature counts.
• Position error time
This parameter sets time how long position error allowed to be bigger then limit set by "Position
error" parameter until "Position Excess Error" fault will be generated.
Compensation
Velocity Loop filter
These parameters have an effect on velocity regulator behavior when SSi placed in V+P mode. It
has no effect in PIVFF mode
• P-gain Velocity loop Proportional gain
• I-gain Velocity loop Integral gain
Refer to Section 1.10 for details on SSi position and velocity regulators behavior in both P+V and
PIVFF mode.
Position Loop filter
This parameters have an effect on position loop regulator and
• P-gain Position loop Proportional gain
• I-gain Position loop Integral gain
• D-gain Position loop Derivative gain
• VFF-gain Position loop velocity feed forward gain
• I-limit Position loop Integral gain influence limit
Refer to Section 1.10 for details on SSi position and velocity regulators and regulation diagrams.
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