Lenze 931E/K Small Drives Control - Manual (Page 40)

Commissioning
Torque control
Functions available
5
l
40 SW−HB 13.0002−EN 4.1
23
e
+j
q
23
e
-jq
UP
h
a
s
e
U
UP
h
a
s
e
V
UP
h
a
s
e
W
IP
h
a
s
e
U
IP
h
a
s
e
V
I d
set
p
oint
=
0
PI
id
le
cur
re
n
t
con
tro
lle
r
PI
acti
ve
cu
rr
en
t
c
on
tro
lle
r
-
-
I q
se
t
po
in
t
I d I q
AIN0 AIN1
RS232
CAN
vel-contr.
U
d
U
q
Sel
e
ct
or
cur
ren
t
c
o
n
tr
ol
le
r
PI
velocity
controll
er
I²t-
func
tion
-
Ns
e
t
p
o
in
t
RS232
CAN
pos-contr.
Selector
v
e
locity
control
ler
n_s
e
t_pos
Se
t
p
oi
nt
ram
p
d
/ dt
T n_
is t
Us
in
_
re
s
U
c
os_
res
Resolver
Sin/C
o
s
G
eber
Us
in
_
s
c
U
c
os
_sc
ph
i_
mo
t
Na
c
t
eps
_mot
ve
lo
city
filte
r
d
/ dt
xa
c
t
re
fer
e
n
c
e
run fixe
d
z
e
ro
Sync
RS232
CAN
pos-contr.
Se
le
ctor
cor
re
c
ti
ng
set
p
oi
nt
+
AIN1
RS232
CAN
ve
l-con
tr.
i_
ma
x
Se
le
ctor
to
rq
u
e
limit
i_
lim
it
i_max
0
n_
lim
it
0
DIN8
-n_l
im
it
0
DIN7
n_
ma
x
n_
ma
x
AIN0 AIN1
fixed
Z
ero
AIN0 AIN1
feste
N
ull
AIN0
IP
h
a
s
e
W
ep
s
_
mo
t
Pr
of
ib
us
Eth
e
rC
A
T
Pr
of
ib
us
Eth
e
rC
A
T
Pr
of
ib
us
Eth
e
rC
A
T
Pr
of
ib
us
Eth
e
rC
A
T
931E_100
Fig. 2 Block diagram: Controller cascade