Lenze PM94P01C - Manual (Page 16)

PM94P01C 14
Introduction
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 before it can initiate any motion. The source for commanding this motion is referred to as the
“Reference”. With the PositionServo you have two ways of commanding motion, or two types of References. When
the drive’s command 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 command from the User program or through one of the system
variables it is referred to as an Internal Reference.
Table 4: 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 (Trajectory generator output)
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 User 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, the motor will operate with
encoder counts as User units.
Time base
Time base is always in seconds i.e. all time-related values are set in USER UNITS/SEC.
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 “Parameter” from the Parameter Tree Window.
- Select “Enable switch function” from the Parameter View Window.
- Select “Run” from the popup menu. This setting is primarily used when operating without any user’s program
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 an external device, PLC or motion controller. The PositionServo’s User Program allows the programmer
to take that decision and incorporate it into the drive’s program. 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, the F36 fault will
occur. When the “
Enable switch function” parameter is set to Inhibit, and Input A3 is on, the drive will be disabled and
remain disabled until the ENABLE statement is executed by the User Program.
- Select “ Parameter” from the Parameter Tree Window.
- Select “ Enable switch function” from the Parameter View Window.
- Select “ Inhibit” from the popup menu.