Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario Pagina 24
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
24 L EDS94TA11010xxxx EN 1.2 - 03/2010
3.4.1 PDO mapping
PDO mapping must be executed during the runtime by the master control in the
PREOPERATIONAL communication status (according to the CiA DS301 communication
profile).
The following objects can be defined as process data via the PDO channel:
Index Name Data type Object type
Common entries
0x60FD Digital inputs UNSIGNED_8 VAR
0x60FE/1
Physical outputs UNSIGNED_8 VAR
Device Control
0x6040
Control word UNSIGNED_16 VAR
0x6041 Status word UNSIGNED_16 VAR
0x6060
Mode of operation INTEGER_8 VAR
0x6061 Mode of operation display INTEGER_8 VAR
Position control functions
0x6063 Position actual value* INTEGER_32 VAR
0x6064 Position actual value INTEGER_32 VAR
0x60F4 Following error actual value INTEGER_32 VAR
0x60FB/5 Safe I/O state UNSIGNED_8 VAR
0x60FB/6 Safety module state UNSIGNED_16 VAR
Interpolated position mode
0x60C1/1
X1 INTEGER_32 VAR
Cyclic synchronous position mode
0x607A
Target position INTEGER_32 VAR
Cyclic synchronous torque mode
0x6071
Target torque INTEGER_32 VAR
0x6072
Max. torque UNSIGNED_16 VAR
0x6077 Torque actual value INTEGER_32 VAR
0x6078 Current actual value INTEGER_32 VAR
Cyclic synchronous velocity mode
0x60FF Target velocity INTEGER_32 VAR
0x606C Velocity actual value INTEGER_32 VAR
Factors for the feedforward control
0x60B2
Torque offset INTEGER_32 VAR
0x60B1
Offset velocity INTEGER_32 VAR
0x60B0
Offset position INTEGER_32 VAR
Touch probe
0x60B8
Touch probe function UNSIGNED_16 VAR
0x60B9 Touch probe status UNSIGNED_16 VAR
0x60BA Touch probe position 1 positive value INTEGER_32 VAR
0x60BB Touch probe position 1 negative value INTEGER_32 VAR
0x60BC Touch probe position 2 positive value INTEGER_32 VAR
0x60BD Touch probe position 2 negative value INTEGER_32 VAR
Grayed out = read access only
- L-force Runtime Software 1
- Contents 3
- 1 About this documentation 8
- About this documentation 9
- Conventions used 9
- 1.1 Conventions used 9
- Danger! 10
- 2 Short description 11
- DS402 State machine 14
- 16
- Drive initialisation 25
- Code: _______ 31
- Index 31
- 3.5.4 Object attributes 33
- Common entries 35
- 3.6.2 Motor data 40
- Device control 42
- Power on 47
- X0XX0000 55
- X0XX1000 59
- Parameter Lenze setting 61
- Factor group 65
- 3.9.1 Input and output data 74
- Input data 74
- Output data 74
- ( 82) 79
- Short overview 82
- ( 81) 83
- ( 80) 83
- CiA402 Homing method -2 84
- CiA402 Homing method -1 84
- CiA402 Homing method 01 85
- CiA402 Homing method 02 86
- CiA402 Homing method 03 87
- CiA402 Homing method 04 88
- CiA402 Homing method 05 89
- CiA402 Homing method 06 90
- CiA402 Homing method 07 91
- CiA402 Homing method 08 92
- CiA402 Homing method 09 93
- CiA402 Homing method 10 95
- CiA402 Homing method 11 96
- CiA402 Homing method 12 97
- CiA402 Homing method 13 99
- CiA402 Homing method 14 100
- Touch probe/zero pulse 100
- Reference switch 100
- CiA402 Homing method 15 101
- CiA402 Homing method 16 101
- CiA402 Homing method 17 102
- CiA402 Homing method 18 102
- CiA402 Homing method 19 103
- Homing switch 103
- CiA402 Homing method 20 104
- CiA402 Homing method 21 105
- CiA402 Homing method 22 106
- CiA402 Homing method 23 107
- CiA402 Homing method 24 108
- CiA02 homing method 25 109
- CiA402 Homing method 26 110
- CiA402 Homing method 27 111
- CiA402 Homing method 28 112
- CiA402 Homing method 29 113
- CiA402 Homing method 30 114
- CiA402 Homing method 31 115
- CiA402 Homing method 32 115
- CiA402 Homing method 33 115
- CiA402 Homing method 34 116
- CiA402 homing method 35 116
- Homing mode 118
- Grayed out = read access only 119
- Position control function 121
- Brake logic 128
- Monitoring 128
- UNSIGNED_32 VAR 131
- INTEGER_32 VAR 131
- Interpolated position mode 133
- 3.11.3 Signal flow 137
- Disable voltage 140
- Shutdown 140
- Quick stop 140
- Value Unit 141
- Data type: INTEGER_32 144
- 3.12.3 Signal flow 145
- 3.13.2 Object description 150
- 0x60FF - Target velocity 151
- Speed follower 152
- 3.14.2 Object description 157
- Power stage parameters 161
- Display area 161
- Torque follower 162
- Touch probe 167
- ( 182) 174
- ( 181) 174
- 3.21.3 CountMultiError 183
- 3.21.4 CountSingleError 183
- 3.21.5 DetectErrorLimit 183
- 3.21.6 DetectMultiError 184
- 3.21.7 DetectSingleError 184
- 3.21.8 DetectUnderVoltage 185
- 3.21.9 L_DevApplErr1 185
- 4 Step-by-step commissioning 186
- ( 188) 187
- Parameter Object Information 190
- 5 Parameter reference 191
- Cxxxxx 193
- Description 193
- Parameter 195
- Data type: _______ 195
- Index: _______ 195
- Parameter reference 199
- Parameter list 199
- Parameter list 200
- Parameter list 201
- Parameter list 202
- Parameter list 203
- Parameter list 204
- Parameter list 205
- Parameter list 206
- Parameter list 207
- Parameter list 208
- Parameter list 209
- Parameter list 210
- Parameter list 211
- Parameter list 212
- Parameter list 213
- Parameter list 214
- Parameter list 215
- Parameter list 216
- Parameter list 217
- Parameter list 218
- Parameter list 219
- Attribute table 221
- )(('%$ 230
- 109 87654321 232
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