Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario descargar pdf (Pagina 27)

EDS94TA11010xxxx EN 1.2 - 03/2010 L 27

9400 Technology applications | CiA402 device profile

Parameter setting & configuration

Drive initialisation

SDO write request 0x1600/0 0 PDO1-Rx does not contain any objects; deactivate

mapping.

SDO write request 0x1600/1 0x60400010 Map the 0x6040

object (controlword) to PDO1-Rx.

SDO write request 0x1600/2 0x60C10120 Map the 0x60C1/1

object (interpolation data record/

X1) to PDO1-Rx.

SDO write request 0x1600/0 2 PDO1-Rx contains 2 objects; activate mapping.

SDO write request 0x1A00/0 0 PDO1-Tx does not contain any objects; deactivate

mapping.

SDO write request 0x1A00/1 0x60410010 Map the 0x6041

object (statusword) to PDO1-Tx.

SDO write request 0x1A00/2 0x60640020 Map the 0x6064

object (position actual value) to

PDO1-Rx.

SDO write request 0x1A00/0 2 PDO1-Tx contains 2 objects; activate mapping.

Initialisation of device profile objects

SDO write request 0x60C2/1 2 Set time base for interpolation of the position

setpoint.

• Time base = 2 * 10

-3

[s] = 2 [ms]

SDO write request 0x60C2/2 0xFD (-3)

SDO write request 0x6092/1 0x10000 Set feed constant for position values in [increments].

• One encoder revolution corresponds to 0x10000,

since the feed is usually already converted into

increments in the master control.

SDO write request 0x6060 7 Select Interpolated position mode

Initialisation of manufacturer-specific objects

SDO write request 0x55A4 0x10000 Configure touch probe for Homing mode

in C02651.

• Touch probe is triggered by motor encoder zero

pulse.

SDO write request 0x55AF 2 Select "2" for "Homing mode" operating mode in

C02640.

Process:

1.Movement in positive direction with profile data

set 1.

2.Reversing to positive travel range limit switch.

3.Positive edge of the reference switch activates

profile data set 2 for the further reference search.

4.Negative edge of the reference switch enables

home position detection.

5.The following positive edge of the encoder zero

pulse/touch probe sensor sets the reference

(0x607C

6.Absolute positioning to target position (C02643)

with profile data set 2 (if 0x60FB/7

="0").

SDO write request 0x5B9F 1 Write request on the code C01120 (sync source) for

axis synchronisation.

• Value "1" = CAN on board

SDO write request 0x5B9E 2000 Write request to code C01121 (sync cycle time).

• Sync cycle time = 2000 μs

Change of the communication status

NMT - - Switch drive to the OPERATIONAL communication

status.

Cyclic process data exchange

PDO1-Rx to the drive - - Transmit the process data to the drive according to

PDO mapping.

SYNC - - Process data synchronisation

PDO1-Tx from the drive - - Receive process data from the drive according to PDO

mapping.

Communication service Object Value Information

1 2 ... 22 23 24 25 26 27 28 29 30 31 32 ... 231 232

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Lenze E94AxHE Technology Application CiA402 Device profi Manual de usuario Pagina 27

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