Lenze 931W - Manual (Page 41)

Software implementation and parameter setting
Controller menu
TA - scanning time
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41 HB 13.0001-EN 3.0
5.5.4 TA - scanning time
The scanning time TA, which here is from 500 μ seconds to 5000 μ seconds, specifies the
interval of the system scanning by the controller. If the scanning time is too low, the D
component of the controller possibly is not active anymore.
In general, mechanical systems with a high mass inertia can rather be controlled using a
higher scanning time. The reason for this is to be found in the fact that such systems only
permit low dynamics, and that low scanning times therefore are not required.
5.5.5 KL position controller
The KL factor is the P component of the position controller. It can be set between 0.001 and
2. The proportional controller is superimposed on the speed controller.
The position controller is superimposed on the speed controller. For dimensioning
purposes, for positioncontrol it is recommendedto commissionaspeed-controlledsystem
in the first place, and to optimise the speed controller. In order to achieve a good control
mode, it is recommended not to select the dynamics of the speed controller too high. After
the optimisation of the speed controller, the P component of the position controller can be
optimised.
Generally, a P component of the position controller that is too low brings about longer
settling times, whereas a component that is too high produces an uncontrolled system
behaviour.
5.5.6 Max. speed/velocity
According to the setting of the conversionand display units inthe ”System”menu, here the
maximum speed or, with regard to the linear axis, the maximum velocity can be entered.
The speed set here is the maximum limit for the control activity. If the value exceeds the
value set in the ”Service” menu, the smaller speed limit value applies. The device-specific
limit values here also have got to be observed.
5.5.7 Max. torque/force
The maximum value to be entered here, according to the entry, is effected in the ”System”
menu as force or torque, the maximum value to be entered being the device-specific
maximum torque. The actual maximum torque for the control activity results from the low
limit value of the torque entered here and from the maximum torque that has been
defined for the entire operation in the ”Service” menu.
5.5.8 Positioning window
If the controller type in the ”Travel data sets” menu is set to ”Relative position” or
”Absolute position”, the inverter tries to maintain the position specified in the respective
travel data set with the precision defined herein. For the value ”0”, the maximum precision
requirement results.
In the ”Status” menu, the message ”Setpoint reached” is shown as soon as the position in
the specified position window is reached. As a maximum value, 30000 increments can be
entered.