Owner's manual

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 (s election 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 dr iving
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.