Lenze IM94MV01C - Manual (Page 19)

IM94MV01C 17
2.5.2 Analog I/O
The [Analog I/O] folder contains the parameters of one output and one input plus an action button [Adjust analog input zero
offset] that permits the user to change the analog zero offset.
Table 7: Analog Input/Output Parameters
Parameter Range Default Value
Analog output Not assigned, Phase current RMS, Phase current Peak,
Motor velocity, Phase R current, Phase S current, Phase
T current, Iq current, Id current Not assigned
Analog output current scale 0.1000 - 10.000 Volt/Amp 1.0000
Analog output velocity scale 0.1000 - 5.0000 mV/RPM 1.0000
Analog input dead band 0 - 50 mV 10
Analog input offset -1000 - 1000 mV 0
Note: Phases R, S and T are equivalent to phases U, V and W respectively.
2.6 Limits
There are  sub-folders under the [Limits] folder in the MotionView Node Tree for setting the velocity and position limits.
2.6.1 Velocity Limits
To set the velocity limits of the PositionServo drive in MotionView, double click on the [Limits] folder to expand it then click on the
[Velocity limits] folder to open this function. Table 8 lists the range and default value of each of the Velocity limits parameters.
Table 8 Velocity Limits Parameters
Parameter Range Default Value
Zero speed 0 - 100 RPM 10
Speed window 10 - 10000 RPM 100
At speed -10000 - 10000 RPM 10000
2.6.2 Position Limits
To set the position limits of the PositionServo drive in MotionView, double click on the [Limits] folder to expand it then click on the
[Position limits] folder to open this function. Table 9 lists the range and default value of each of the Position limits parameters.
Table 9: Position Limits Parameters
Parameter Range Default Value
Position error 1 - 3767 counts 500
Max Error Time 0.500 - 8000.0000 ms 500.0000
Second encoder Position error 1 - 3767 counts 500
Second encoder Max Error Time 0.500 - 8000.0000 ms 500.0000
2.7 Compensation
To set the Compensation parameters, click the [Compensation] folder to open its contents in the List View window. To change
a compensation parameter, click the Parameter name. Table 10 lists the range and default value of each compensation pa-
rameter.
Table 10: Compensation Parameters
Parameter Range Default Value
Velocity P-gain 0.0000 - 3767.0000 600.0000
Velocity I-gain 0.0000 - 16383.0000 0.0000
Position P-gain 0.0000 - 3767.0000 600.0000
Position I-gain 0.0000 - 16383.0000 0.0000
Position D-gain 0.0000 - 3767.0000 0.0000
Position I-limit 0.0000 - 0000.0000 RPM 00.0000
Gain scaling -16 - 4 -4