Process Input Data (Cia 402 Objects) - Lenze i950 Commissioning Manual

Configure position control

Process input data (CiA 402 objects)

9.3 Process input data (CiA 402 objects)
Parameter
Address Name / setting range / [default setting]
0x2830 Inverter control word
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Flying restart completed
Bit 1 Block flying restart
Bit 4 Set load value
Bit 5 Select new actual position
Bit 6 Activate DC-injection braking or short-circuit
braking
Bit 10 Reserved
Bit 11 Reserved
0x2902 I component load value
-1000.0 ... [0.0] ... 1000.0 %
0x6040 CiA: Controlword
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Switch on
Bit 1 Enable voltage
Bit 2 Quick stop
Bit 3 Enable operation
Bit 4 Operation mode specific
Bit 5 Operation mode specific
Bit 6 Operation mode specific
Bit 7 Fault reset
Bit 8 Halt
Bit 9 Operation mode specific
Bit 14 Release holding brake
0x6060 Modes of operation
0 No mode change/no mode assigned
2 CiA: Velocity mode
8 Cyclic sync position mode
9 Cyclic sync velocity mode
10 Cyclic sync torque mode
0x607A Target position
-2147483648 ... [0] ... 2147483647 pos. unit
0x60B1 Velocity offset
-480000.00 ... [0.00] ... 480000.00 rpm
0x60B2 Torque offset
-3276.8 ... [0.0] ... 3276.7 %
0x60E0 Positive torque limit
0.0 ... [100.0] ... 3276.7 %
0x60E1 Negative torque limit
0.0 ... [100.0] ... 3276.7 %
138
Info
The control word serves to influence the control functions.
This bit enables the control to report the acceptance of the recorded
speed to the "flying restart" function. Thus, the flying restart process is
completed.
TRUE: the flying restart process is blocked.
TRUE: set load value.
TRUE: define new actual position.
• Setting/shifting of Position actual value (0x6064) to Actual position
start value (0x2983) considering the set resolution (0x608F:001,
0x608F:002).
• Mode for setting the actual position: 0x2984)
DC-injection braking or short-circuit braking is activated via this bit.
Setting of the load value.
Mappable CiA 402 control word with bit assignment according to device
profile CiA 402.
1 = switch-on
1 = DC bus: Establish readiness for operation
0 = activate quick stop
1 = enable operation
0-1 edge = reset error
1 = stop motor (ramping down to frequency setpoint 0 Hz)
Operating mode dependent
1 = releasing holding brake manually
CAUTION!
• The manually triggered "Release holding brake" command has a direct
impact on the "Release holding brake [115]" trigger. Thus, the holding
brake can be manually released if the power section is switched off.
• The responsibility for a manual release of the holding brake has the
external trigger source for the "Release holding brake" command.
4Holding brake control
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Selection of the operating mode.
No operating mode (standstill)
CiA 402 velocity mode
4Operating mode "CiA 402 Velocity mode (vl)"
4Operating mode "CiA 402 Cyclic sync position mode (csp)"
4Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
4Operating mode "CiA 402 Cyclic sync torque mode (cst)"
Setting of the position setpoint.
Additive value for setpoint velocity or velocity feedforward control.
Additive value for setpoint torque or torque feedforward control
• 100 % ≡ rated motor power (0x6076)
Positive torque limit source for speed control with torque limitation.
• 100 % ≡ Rated Motor Torque.
40x6076
Code previously C3687.
Negative torque limit source for speed control with torque limitation.
• 100 % ≡ Rated Motor Torque
40x6076
^ 148
^ 134
^ 153
^ 167