Lenze I95AE240F User Manual

9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)"
Subfuncons of the
operang mode
•
Interpolaon between communicaon cycle and control cycle
•
Posion control
•
Speed control
•
Torque control
•
Update of the actual values for posion, speed and torque
9.2.1 Default mapping
The default mapping for the "cyclic sync posion mode" is dened in the following parame-
ters:
Parameter Designaon Data type
0x1600 RPDO-->axis: cyclic sync posion mode (csp) RECORD
0x1606 RPDO-->axis: torque limit RECORD
0x1A00 Axis-->TPDO: cyclic sync posion mode (csp) RECORD
Data received from the Controller (RPDO)
Parameter Designaon Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operang mode:
selecon INTEGER_8
0x60B2 Torque: oset INTEGER_16
0x607A Posion: setpoint posion INTEGER_32
0x60B1 Velocity: oset INTEGER_32
0x2902 Speed controller: load I component INTEGER_16
0x60E0 Torque: posive limit value UNSIGNED_16
0x60E1 Torque: negave limit value UNSIGNED_16
Data sent to the Controller (TPDO)
Parameter Designaon Data type
0x6041 CiA402 status word UNSIGNED_16
0x2831 Lenze status word UNSIGNED_16
0x6061 Operang mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x606C Velocity: actual velocity UNSIGNED_16
0x6077 Torque: actual torque INTEGER_16
0x6064 Posion: actual posion INTEGER_32
0x60F4 Following error: actual error INTEGER_32
Congure
posion control
Operang mode "CiA 402 Cyclic sync posion mode (csp)"
Default mapping
134

Lenze I95AE240F Specifications

General

Brand	Lenze
Model	I95AE240F
Category	Inverter
Language	English