Lenze PositionServo 940, User Manual

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S94P01B
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6.1.3 EPM fault
If the EPM fails during operation or the EPM is removed from the EPM Port the drive
will generate a fault and will be disabled (if enabled). The fault is logged to the drives
memory. Further operation is not possible until the EPM is replaced (inserted) and the
drive’s power is cycled. The fault log on the display shows “
F_EP
” fault.
6.2 Motor Group
The motor group shows the data for the currently selected motor. Refer to Section 5.5
for details on how to select another motor from the motor database or to configure a
custom motor.
6.3 Parameters Group
6.3.1 Drive operating modes
The PositionServo has 3 operating mode selections: Torque, Velocity, and Position.
For Torque and Velocity modes
the drive will accept an analog input voltage on the
AIN+ and AIN- pins of P3 (see section 5.3.1). This voltage is used to provide a torque
or speed reference.
For Position mode
the drive will accept step and direction logic signals or a
quadrature pulse train on pins P3.11-14.
6.3.1.1 Velocity mode
In velocity mode, the servo controller regulates motor shaft speed (velocity)
proportional to the analog input voltage at input AIN1, if parameter “Reference”
is set to “External”. Otherwise the reference is taken from the drive’s internal
variable. (See Programmer’s manual for details).
For analog reference, Target speed (set speed) is calculated using the following
formula:
Set Velocity (RPM) = Vinput (Volt) x Vscale (RPM/Volt)
where:
• Vinput is the voltage at analog input (AIN+ and AIN-)
• Vscale is the velocity scale factor (input sensitivity) set by the Analog input
(Velocity scale) parameter (section 6.3.6).
Set Velocity (RPM) = Vinput (Volt) x Vscale (RPM/Volt)
6.3.1.2 Torque mode
In torque mode, the servo control provides a current output proportional to the
analog input signal at input AIN1, if parameter “Reference” is set to “External”.
Otherwise the reference is taken from the drive’s internal variable. (See
Programmer’s manual for details).
For analog reference “Set Current”, (current the drive will try to provide), is
calculated using the following formula:
Set Current(A) = Vinput(Volt) X Iscale (A/Volt)
where:
• Vinput is the voltage at analog input
• Vscale is the current scale factor (input sensitivity) set by the Analog input
(Current Scale) parameter (section 6.5.2).