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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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CiA402 device profile

7.4

Device control

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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 =

Velocity mode

8 =

Cyclic sync position mode

9 =

Cyclic sync velocity mode

10 =

Cyclic sync torque mode

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 =

Velocity mode

8 =

Cyclic sync position mode

9 =

Cyclic sync velocity mode

10 =

Cyclic sync torque mode

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

0x608F

(or

0x688F

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 (

0x608F

) = "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

-----------------------------

=