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Drive Objects

5. Drive 94 Speciﬁc Objects and functionality

When using the CANopen protocol the E94 drive has two modes of operation.

• CAN Velocity Mode

• CAN Torque Mode.

5.1 CAN Velocity mode

The Velocity reference is provided internally through the Object 60FFh (Target Velocity)

statically mapped in RPDO2. Commands can be sent to the drive through the Object 6040h

(Control Word) also statically mapped in RPDO2.

Please see the Object 6040h (Control Word) description below for the available

commands.

The CANopen network master should use the RPDO2 service to provide Target Velocity

and Control Commands to the drive.

The E94 Drive uses TPDO2 to send to the master status information through the Object

6041h Status word and the current velocity value through the Object 606Ch Velocity

Actual Value. Please see the Object 6041h Status word description below for the

available status information.

The drive94V.eds ﬁle is provided for usage by the CANopen master when the drive is in

CAN Velocity mode.

5.2 CAN Torque mode

The Torque reference is provided internally through the Object 6071h (Target Torque)

statically mapped in RPDO1. Commands can be sent to the drive through the Object 6040h

(Control Word) also statically mapped in RPDO2.

Please see the Object 6040h (Control Word) description below for the available

commands.

The CANopen network master should use the RPDO1 service to provide Target Torque and

Control Commands to the drive.

Drive 94 uses TPDO1 to send to the master status information through the Object 6041h

Status word and the current velocity value through the Object 6077h Torque Actual

Value. Please see the Object 6041h Status word description below for the available status

information.

The drive94T.eds ﬁle is provided for usage by the CANOpen master when the drive is in

CAN Torque mode.

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Lenze S94CAN01A Manual de usuario Pagina 12