Lenze ECSCMxxx - Manual (Page 167)

Commissioning
Selection of the operating mode
"Velocity" operating mode
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167 EDBCSXM064 EN 11.0
6.14.4 "Velocity" operating mode
The "Velocity Mode" enables the higher−level control to transfer a speed profile to the
ECSxM axis module via the MotionBus (CAN).
Settings
1. Select the control interface:
– CAN interface: C4010 = 0
– Automation interface (AIF): C4010 = 2
Code Possible settings IMPORTANT
No. Designation Lenze/
{Appl.} Selection
C4010 Ctrl_Interf 0 Control interface selection ^ 130
^ 167
^ 165
0 CAN1 (PDO1 with sync) The control word is expected via
the PDO CAN1_IN. Control is
carried out via the CAN interface
X4 (MotionBus). Control and
status information is sent and
received via CAN1_IN (PDO1).
1 Without function
2 AIF X1 (PDO1 with sync) Control via the automation
interface (AIF) X1 is only possible
in conjunction with the
EMF2192IB EtherCAT
communication module.
(From Motion V3.0)
3 C4040 (control via codes) Control is carried out via codes.
The control word "Ctrl1" is set
via code C4040. The Global Drive
Control (GDC) diagnostics and
parameterisation software can
for instance be used to change
individual control bits in order to
simulate the higher−level control
for testing purposes.
4 Without function
2. Select "Velocity Mode": C5000 = 2
– The code C5000 (4C77h) is written via parameter channel (SDO) (
^ 345).
3. Selection confirmation: C5001 = 2
– The selection of "Velocity Mode" is confirmed.
– The code C5001 (4C76h) must be read out via parameter channel (SDO).
4. Activate "Velocity mode": Ctrl1.Bit12 = 1 (TRUE)
5. Definitions from the master control to the axis module:
– Velocity signal (CAN1_nInW1_a or AIF1_nInW1_a)
– Ramp times (acceleration, deceleration and stop times)