Lenze S94P01G Position Servo - Manual (Page 42)

S94P01G
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Parameters
5.2 Motor Group
The motor group shows the data for the currently selected motor. Refer to section 4.5
for details on how to select another motor from the motor database or to configure a
custom motor.
5.3 Parameters
5.3.1 Drive Operating Modes
The PositionServo has 3 operating mode selections: Torque, Velocity and Position.
For Torque and Velocity modes the drive will accept an analog input voltage on the
AIN1+ and AIN1- pins of P3 (refer to section 4.3.1). This voltage is used to provide a
torque or speed reference.
For Position mode the drive will accept step and direction logic signals or a quadrature
pulse train on pins P3.1- P3.4.
5.3.1.1 Torque Mode
In torque mode, the servo control provides a current output proportional to the analog
input signal at input AIN1, if parameter “Reference” is set to “External”. Otherwise the
reference is taken from the drive’s internal variable, IREF. (Refer to the PositionServo
Programming Manual for details). For analog reference “Set Current”, (current the drive
will try to provide), is calculated using the following formula:
Set Current(A) = Vinput(Volt) X Iscale (A/Volt)
where: Vinput is the voltage at analog input
Iscale is the current scale factor (input sensitivity) set by the Analog input
(Current Scale) parameter (section 5.3.5).
5.3.1.2 Velocity Mode
In velocity mode, the servo controller regulates motor shaft speed (velocity) proportional
to the analog input voltage at input AIN1, if parameter “Reference” is set to “External”.
Otherwise the reference is taken from the drive’s internal variable, IREF. (Refer to the
PositionServo Programming Manual for details). For analog reference, Target speed
(set speed) is calculated using the following formula:
Set Velocity (RPM) = Vinput (Volt) x Vscale (RPM/Volt)
where: Vinput is the voltage at analog input (AIN1+ and AIN1-)
Vscale is the velocity scale factor (input sensitivity) set by the Analog input
(Velocity scale) parameter (section 5.3.6).
5.3.1.3 Position Mode
In this mode the drive reference is a pulse-train applied to P3.1-4 terminals, if the
parameter “Reference” is set to “External”. Otherwise the reference is taken from the
drive’s internal variables. (Refer to the PositionServo Programming Manual for details).
P3.1-4 inputs can be configured for two types of signals: step and direction and Master
encoder quadrature signal. Refer to section 4.2.1 for details on these inputs connections.
Refer to section 6.3 for details about positioning and gearing.
When the Reference is set to Internal, the drives reference position, (theoretical or
Target position), is generated by trajectory generator. Access to the trajectory generator
is provided by motion statements, MOVEx and MDV, from the User Program.