Lenze E94P PositionServo Modbus - Manual (Page 31)

31 P94MOD01C
Reference
Index
Name
Type
Format
EPM
Access
Description Range Unit RAM
Registers
32bit
Integer
Access
4X
Register #
RAM
Register
32bit
Float
Access
4X
Register #
EPM
Reg Copy
32bit
Integer
Access
4X
Register #
EPM
Reg Copy
32bit
Float
Access
4X
Register #
RAM
Register
16bit
Signed
Integer
4X
Register #
EPM
INT16
4X
Register #
34 VAR_DRIVEMODE W Y R/W Drive mode
0 - torque; 1 - velocity ; 2 - position 0 - 2 69 581 1093 1605 2083 2339
35 VAR_CURRENT_SCALE F Y R/W Analog input #1 current reference scale Model
Dependent A/V 71 583 1095 1607 2084 2340
36 VAR_VELOCITY_SCALE vel F Y R/W Analog input #1 velocity reference scale -10000 to
+10000 RPM/V 73 585 1097 1609 2085 2341
37 VAR_REFERENCE W Y R/W Reference selection
1 - internal source; 0 - external 1 - 0 75 587 1099 1611 2086 2342
38 VAR_STEPINPUTTYPE W Y R/W Selects how position reference inputs
operating
0 - Quadrature inputs (A/B)
1 - Step & Direction 0 - 1 77 589 1101 1613 2087 2343
39 VAR_
MOTORTHERMALPROTECT W Y R/W Motor thermal protection function
0 - disabled; 1 - enabled 0 - 1 79 591 1103 1615 2088 2344
40 VAR_
MOTORPTCRESISTANCE F Y R/W Motor thermal protection PTC cut-off
resistance [Ohm] 81 593 1105 1617 2089 2345
41 VAR_SECONDENCODER W Y R/W Second encoder
0 - disabled; 1 - enabled 0 - 1 83 595 1107 1619 2090 2346
42 VAR_REGENDUTY W Y R/W Regen circuit PWM duty cycle in % 1-100% % 85 597 1109 1621 2091 2347
43 VAR_ENCODERREPEATSRC W Y R/W Selects source for repeat buffers
0 - Model 940 - Encoder Port P4
Model 941 - 2nd Encoder Option Bay
1 - Model 940 - 2nd Encoder Option Bay
Model 941 - Resolver Port P4 0 - 1 87 599 1111 1623 2092 2348
44 VAR_VP_GAIN vel W Y R/W Velocity loop Proportional gain 0 - 32767 89 601 1113 1625 2093 2349
45 VAR_VI_GAIN vel W Y R/W Velocity loop Integral gain 0 - 32767 91 603 1115 1627 2094 2350
46 VAR_PP_GAIN W Y R/W Position loop Proportional gain 0 - 32767 93 605 1117 1629 2095 2351
47 VAR_PI_GAIN W Y R/W Position loop Integral gain 0 - 16383 95 607 1119 1631 2096 2352
48 VAR_PD_GAIN W Y R/W Position loop Differential gain 0 - 32767 97 609 1121 1633 2097 2353
49 VAR_PI_LIMIT W Y R/W Position loop integral gain limit 0 - 20000 99 611 1123 1635 2098 2354
50 VAR_SEI_GAIN Not Used 101 613 1125 1637 2099 2355
51 VAR_VREG_WINDOW vel W Y R/W Gains scaling coefficient -16 to +4 103 615 1127 1639 2100 2356
52 VAR_ENABLE W N W Software Enable/Disable
0 - disable; 1 - enable 0 - 1 105 617 1129 1641 2101 2357
53 VAR_RESET W N W Drive’s reset (Disables drive, Stops running
program if any, reset active fault)
0 - no action; 1 - reset drive 0 - 1 107 619 1131 1643 2102 2358
54 VAR_STATUS W N R Drive’s status register 109 621 1133 1645 2103 2359
55 VAR_BCF_SIZE W Y R User’s program Byte-code size Bytes 111 623 1135 1647 2104 2360
56 VAR_AUTOBOOT W Y R/W User’s program autostart flag
0 - program started manually (MV or
interface); 1 - program started automatically
after drive booted 0 - 1 113 625 1137 1649 2105 2361
57 VAR_GROUPID W Y R/W Network group ID 1 - 32767 115 627 1139 1651 2106 2362
58 VAR_VLIMIT_ZEROSPEED F Y R/W Zero Speed window 0 - 100 Rpm 117 629 1141 1653 2107 2363
59 VAR_VLIMIT_SPEEDWND F Y R/W At Speed window 10 - 10000 Rpm 119 631 1143 1655 2108 2364
60 VAR_VLIMIT_ATSPEED F Y R/W Target Velocity for At Speed window -10000 -
+10000 Rpm 121 633 1145 1657 2109 2365
61 VAR_PLIMIT_POSERROR W Y R/W Position error 1 - 32767 EC 123 635 1147 1659 2110 2366
62 VAR_PLIMIT_ERRORTIME F Y R/W Position error time (time which position error
has to remain to set-off position error fault) 0.25 - 8000 mS 125 637 1149 1661 2111 2367
63 VAR_PLIMIT_SEPOSERROR W Y R/W Second encoder Position error 1 - 32767 EC 127 639 1151 1663 2112 2368
64 VAR_PLIMIT_
SEERRORTIME F Y R/W Second encoder Position error time (time
which position error has to remain to set-off
position error fault) 0.25 - 8000 mS 129 641 1153 1665 2113 2369
65 VAR_INPUTS W N R Digital inputs states. A1 occupies Bit 0, A2-
Bit 1 … C4 - bit 11. 131 643 1155 1667 2114 2370