Topic
| TA CiA 402
| TA CiA 402 advanced
|
Application-specific
adaptation
| The functionality is firmly implemented in
conformity with CiA 402.
| A TA CiA 402 advanced can optionally be extended
individually: EtherCAT mapping, programme code. To do this, use the i950 as a
programmable device with TA project template.
|
Position
control
| Standard: Position control with position encoder = motor encoder in the axis. Optional: Position control with position encoder = application feedback in the motion controller. | The position encoder can optionally be a second encoder at the application feedback input. The position control takes place in the axis. e.g. Linear encoder SSI
|
Autotuning
| The function can be executed in the higher-level Lenze controller.
| Is included in the i950.
|
Referencing (Homing)
| The profile generation during the reference search
and the position reconstruction (reference retained when switching to mains)
are carried out in the Motion Controller.
| The profile generation during the reference search
as well as the position reconstruction (reference retained during mains
switching) can optionally be carried out in the i950.
|
Touch Probe
| DI1 and DI2 are available for Touch probe
| DI1 up to DI4 are available for Touch probe
|
Quick
stop
| The quick stop, e.g. as an error reaction, always
takes place without jerk reduction.
| The profile generation of the application quick
stop takes into account a parameterisable jerk reduction.
|
Parameter
handling
| The parameters of the axis (motor, encoder,
controller, ...) are stored in the controller and must be transferred to the
axis during initialisation (switching on)
| The parameters of the axis (motor, encoder,
controller, ...) are stored on the SD card of the i950.
|
Device
exchange
| The basic identification can be found on the type
plate. A Lenze PC-Tool is required to adapt the i950 firmware.
| Identification of the i950 by means of the
'DeviceInfo.txt' on the SD card possible.
Transfer of the firmware and the retaining data, e.g. the Ethernet address, is
possible by taking over the SD card.
|
i950 Extended Safety
| Lenze System: Safety functions are controlled by FSoE the Onboard EtherCat and the c250-S.
Beckhoff system: Safety functions are controlled by FSoE, the onboard EtherCat and the Beckhoff safety controller.
| Safety functions can alternatively be controlled by the IOs of the Extended Safety and/or by 3rd-party safety controllers via PROFIsafe or FSoE (Onboard EtherCat or Fieldbus EtherCat). Ex. topologies with 3rd party controllers, e.g. Siemens or Beckhoff.
|
