Parameter setting
Manufacturer-specific driving records
Overview
7
92
KHB 13.0003-EN 2.0
7.10
Manufacturer-specific driving records
7.10.1
Overview
The 931M/W controllers are equipped with 99 driving programs in which the user can
predefine and save the control mode, setpoints, driving profiles, etc. In this way, the
predefined setpoints and the complete driving profiles can be directly accepted as current
values with a simple SDO command (selection of the corresponding driving program in
object 2100).
Unlike the »fluxx« software and the Profibus interface, driving programs cannot be
automatically combined via the CANopen bus. The driving programs are only used to
accept predefined driving profiles dynamically and with a low bus load.
The individual objects of the driving programs are explained in the following. The
driving_program_number
object is used to select the current driving program.
The
parameters
driving_program_acceleration
,
driving_program_deceleration
,
driving_program_velocity
,
driving_program_position
and
driving_program_torque
are
used to define the driving profile. The setpoint selection depends on the control mode (see
modes_of_operation
):
ƒ
for torque control, the setpoint corresponds to the
driving_program_torque
,
ƒ
for speed control, the setpoint corresponds to the
driving_program_velocity
, and
ƒ
for position control, the setpoint corresponds to the
driving_program_position
.
7.10.2
Description of the objects
Index
Name
Possible settings
Characteristics
Lenze
Selection
Description
2100
h
0 driving_program_
number
0
0
{1}
99
VAR
UINT8
RW
MAP
Selecting the current driving
program.
Driving program
Meaning
0
Depending on the active
control mode, the setpoints
and profile values of the
objects 6071
h
, 607A
h
, 6081
h
,
6083
h
, 6084
h
and 60FF
h
apply.
1 ... 99
Depending on the active
control mode, the setpoints
and profile values of the
objects 2171
h
, 217A
h
, 2183
h
,
2184
h
and 21FF
h
apply.
