Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario descargar pdf (Pagina 188)

9400 Technology applications | CiA402 device profile

Step-by-step commissioning

Set machine parameters

188 L EDS94TA11010xxxx EN 1.2 - 03/2010

4.2 Set machine parameters

4.3 Setting communication parameters for CANopen

For the system bus (CAN) communication, the communication cycle time and the control

cycle time must be synchronised via the SYNC telegram. You must adapt the following

parameters for this mechanism accordingly.

Example:

 ETC selection:

 Additionally required settings in the parameter list:

 Note!

Usually, the position data is defined and interpreted in increments by the master

control. In this case the feed constant and gearbox factor are already considered

by the control and must be set in the controller as listed in the following table.

Parameter Object Name Setting

C02524 0x6092/1

Feed constant

• General normalisation:

65535 Increment ≡ 1 motor revolution

Setting for ETC: 6.5536

C02520 0x6091/1

Gearbox factor numerator: Motor 1

C02521 0x6091/2

Gearbox factor denom.: Motor 1

Parameter Object Name Setting

- 0x60C2/1 CiA402 Ip time units 20

- 0x60C2/2

CiA402 Ip time index -4

Parameter Object Name Setting

C01120 0x5B9F Sync source 1: CAN on board

2: CAN module

C01121 0x5B9E Sync cycle time 2000 μs

C01122 0x5B9D Sync phase position 400 μs

C01124 0x5B9B Sync-PLL increment 210 ns (> 100 ns)

1 2 ... 183 184 185 186 187 188 189 190 191 192 193 ... 231 232

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Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario Pagina 188