Lenze E94P PositionServo with MVOB Manual do Utilizador descarregar pdf (Página 129)

PM94H201B_13xxxxxx_EN L 127

Reference

Example Internal Torque Program

;Program slowly increases Motor Torque until nominal motor current is reached

VAR_DriveMode = 0 ;Set Drive to Torque mode

VAR_Reference = 1 ;Set Reference to Internal control

Program Start:

IREF = 0 ;Reset Torque Reference to 0(Amps)

Wait While !In_A3 ;Wait while Enable input is OFF

Enable ;Enable Drive

Torque_Loop:

Wait Time 500 ;Set time between step increases in Torque

If REF < VAR_CurrentLimit ;If Set Torque < Motor Nominal Torque

IREF = IREF+0.1 ;Then increase by 0.1(Amps)

GOTO Torque_Loop ;Loop to next torque increase

Else

Goto Program_Start ;Else restart program

Endif

END

Example Internal Velocity Program

;Program slowly increases and decreases Motor Velocity between Maximum Velocity Forward direction and

;Maximum Velocity Reverse direction producing a saw-tooth velocity prole.

Dene MaxVelocityRPS 60 ;Enter Maximum Velocity (RPS) value here

Dene VelocityStepRPS 1 ;Dene Velocity INC/DEC per Step/Program Loop (RPS)

Dene VelocityStepTime 200 ;Dene Time for Velocity Steps in mS

Dene Velocity_Inc_Dec V0 ;Dene a Variable to identify if Velocity is currently INC/DECreasing

VAR_DriveMode = 1 ;Set Drive to Velocity mode

VAR_Reference = 1 ;Set Reference to Internal control

VAR_Enable_AccelDecel = 1 ;Enable Accel/Decel Ramps

VAR_Accel_Limit = 3000 ;Set Accel Rate required in RPS^2

VAR_Decel_Limit = 3000 ;Set Decel Rate required in RPS^2

Program Start:

IREF = 0 ;Reset Velocity Reference to 0(RPS)

Wait While !In_A3 ;Wait while Enable input is OFF

Enable ;Enable Drive

Velocity_Loop:

Wait Time VelocityStep Time ;Set Time between Step Increases/Decreases in Velocity (mS)

If REF <= MaxVelocityRPS ;If Current Motor Velocity < MaxVelocityRPS

IREF = IREF+VelocityStepRPS ;Then increase Velocity by VelocityStepRPS

Else

Velocity_Inc_Dec = 1 ;Set Variable to start decreasing velocity

Endif

Else ;If Speed Decreasing

If REF >= -1* MaxVelocityRPS ;If Current Motor Velocity > -MaxVelocityRPS

IREF = IREF-VelocityStepRPS ;Then decrease Velocity by VelocityStepRPS

Else

Velocity_Inc_Dec = 0 ;Set Variable to start increasing velocity

Endif

Goto Velocity_Loop ;Loop to next Velocity Increase/Decrease

END ;End Code - Never Reached

On Fault ;Fault Handler

Resume Program_Start ;Resume at Program Start

EndFault

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