Lenze E94AYCET - Manual (Page 67)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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8 Process data transfer
8.2 Example of a drive initialisation with the "CiA402" technology application
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Initialisation of device profile objects
SDO write request
0x60C2/1 2 Set time base for interpolation of the position
setpoint.
Time base = 2 x 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 usually is already converted to
increments in the controller (EtherCAT master).
SDO write request 0x6060 7 Select the "Interpolated position mode" operation
mode.
Initialisation of manufacturer-specific objects
SDO write request
0x55A4 0x10000 Configure touch probe for the "Homing mode"
operating 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.
1.Motion in positive direction with profile data set
1.
2.Reversing on positive travel range limit switch.
3.The positive edge of the reference switch
activates profile data set 2 for a 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 4 Write request to code C01120 (sync source) for drive
synchronisation.
Change of the communication status
NMT
- - Switch drive to "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 Info