The displayed limits here do not correspond to the available torque. They can be
reduced by further limits (e.g. motor limit characteristic).
The final limit values can be read out via ru50 / ru51 act. torque lim. pos. / neg..
Since they depend, among other things, on the magnetization state of the motor,
they can be displayed only after modulation release.
4.8.9.4 Operating mode switchover
Basically an operating mode change can also be carried out during operation.
The ramp generators are preloaded with the actual setpoints.
When changing into the cyclic operating modes, it must be selected with bit 4 in
parameters co10…co12 whether the spline-interpolators are to be initialized with
setpoints or actual values.
4.8.9.4.1 Initialization of the interpolator with actual values
Default value is the initialization with actual values. Thereby the non-active interpo-
lators of operating modes 8…10 are constantly preloaded with actual values. After
a change a setpoint can be preset directly via co15, co16, co19. A change into op-
erating mode 8 should be done only at standstill.
4.8.9.4.2 Initialization of the interpolator with setpoints
Especially for operating mode switchover according to 8: "cyclic sync position
mode" during operation, it is preferable when the initialisation of the interpolator
takes place in the control.
Thereby the actual position must be read out from the inverter and setpoints must
be determined by precalculation with which the complete interpolator must be filled
via co19 before change-over.
Example:
at co10 = 20 “B-Spline, 4 Points + target value” applies:
three setpoints must be preset before the changeover via co19. The fourth setpoint
is set simultaneously with the changeover to operating mode 8.
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