Lenze i700 User Manual

8 Monitoring functions
8.9 Monitoring of the position and velocity error
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Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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Both monitoring modes can be switched off via the PDO if, for instance, in case of homing,
positioning is to be carried out against a mechanical limit stop.
8.9.1 Monitoring of the position error
This function extension is available from version 01.09!
For the following control modes, the monitoring function of the position error can be used in
combination with the CiA402 operating mode "csp":
• Servo control for synchronous motor (SM)
• Servo control for asynchronous motor (ASM)
• V/f characteristic control for asynchronous motor (ASM)
The following error monitoring is effective for an operating mode with position controller. At the
input of the position controller (see red arrow in the figure below), the system deviation (i.e. the
following error) is compared to the following error tolerance that has been set.
The error response set in the 0x2D51:6
object (or 0x3551:6 for axis B) is executed if
1. the set following error tolerance (0x2D51:4
/ 0x3551:4) has been exceeded and
2. the duration of the exceedance is pending uninterruptedly as long as set in the 0x2D51:5 /
0x3551:5
object.
Additional following error monitoring mode in the Controller
In compliance with the CiA 402 manufacturer spanning device profile, the following error in the
higher-level Controller is monitored in addition to the following error monitoring in the servo
inverter. The following error monitoring in the Controller uses its own objects.
Interpolation
I
q
I
d
M
CTRL
Target position
Velocity offset
Torque offset
Position
controller
Speed ctrl.: Load I component
Position actual value
Controlword
Lenze control word
Modes of operation
Statusword
Lenze status word
Modes of operation display
Positive torque limit value
Negative torque limit value
Speed
limitation
Speed
controller
Torque
limitation
Encoder
evaluation
Field-orientated
control
Torque actual valueVelocity actual value

Lenze i700 Specifications

General

Control Type	Vector control, V/f control
Safety	STO (Safe Torque Off)
Protection Class	IP20
Frequency	50/60 Hz
Communication Interfaces	CANopen
Cooling	Air cooled
Protection Features	Overvoltage, Undervoltage
Ambient Temperature	-10°C to +45°C
Frequency Range	0 Hz to 300 Hz
Supply Voltage	3-phase AC