0x6060 | 0x6860 - modes of operation, 0x6061 | 0x6861 - modes of operation display, 0x6085 | 0x6885 - quick stop deceleration – Lenze i700 User Manual
Page 170: 0x6060, 0x6860, 0x6061, 0x6861, 0x6085, 0x6885, 7cia402 device profile
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7
CiA402 device profile
7.4
Device control
170
Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
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0x6060 | 0x6860 - Modes of operation
0x6061 | 0x6861 - Modes of operation display
0x6085 | 0x6885 - Quick stop deceleration
Selection of the operating mode:
0 = no operating mode (standstill)
2 =
8 =
9 =
10 =
Setting range
(min. value | unit | max. value)
Lenze setting
0
10 0
Write access CINH OSC P RX TX
INTEGER_8
Display of the current operating mode:
0 = no operating mode (standstill)
2 =
8 =
9 =
10 =
Display area
(min. value | unit | max. value)
Initialisation
0
10
Write access CINH OSC P RX TX
INTEGER_8
Change in velocity used for deceleration to a standstill if quick stop is activated.
• In consideration of the position encoder resolution set in
(or
for axis B) (see sample calculation
below).
Setting range
(min. value | unit | max. value)
Lenze setting
0
[Pos unit/s²]
2147483647 2147483647 [Pos unit/s²]
Write access CINH OSC P RX TX
UNSIGNED_32
Example: Calculation of the deceleration to be set at a given ramp time
Specifications:
• Position encoder resolution (
) = "16 bits/revolution".
A mechanical motor revolution is indicated with 65536 increments.
• Initial speed of the motor = 1000 rpm
• Duration of the ramp until standstill = 2.5 s
Deceleration to be set:
Delay
Initial speed
Period
-------------------------------
1
60
------ 0x608F:1
0x608F:2
------------------------
⋅
⋅
=
0x6085
1000 r/min
[
]
2.5 [s]
-----------------------------------
1
60 [s/min]
---------------------------
65536 [increments]
1 [r]
---------------------------------------------------
⋅
⋅
=
0x6085
436907 Increments
s
2
-----------------------------
=