Lenze i700 - Manual (Page 204)

7 CiA402 device profile
7.8 Cyclic sync position mode (csp)
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Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
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7.8.2 Object description
The following two tables provide an overview of the most important objects for this operating
mode (without motor parameters, motor control parameters, and feedback parameters).
All objects correspond to the CiA402 specification, but some of them have only a restricted value
range.
Objects described in other chapters:
Objects described in this chapter:
Object Name Data type
Axis A Axis B
 Lenze control and status word
0x2830 0x3030 Lenze control word UNSIGNED_16
0x2831 0x3031 Lenze status word UNSIGNED_16
 Device control
0x6040 0x6840 Controlword UNSIGNED_16
0x6060 0x6860 Modes of operation INTEGER_8
0x6041 0x6841 Statusword UNSIGNED_16
0x6061 0x6861 Modes of operation display INTEGER_8
 Parameters for actuation of the position control
0x6065 0x6865 Following error window UNSIGNED_32
0x6066 0x6866 Following error time out UNSIGNED_16
0x6067 0x6867 Position window UNSIGNED_32
0x6068 0x6868 Position window time UNSIGNED_16
0x6062 0x6862 Position demand value INTEGER_32
0x6063 0x6863 Position actual internal value INTEGER_32
0x6064 0x6864 Position actual value INTEGER_32
0x60F4 0x68F4 Following error actual value INTEGER_32
0x60FC 0x68FC Position demand internal value INTEGER_32
 Cyclic sync velocity mode (csv)
0x60B1 0x68B1 Velocity offset INTEGER_32
0x60FF 0x68FF Target velocity INTEGER_32
0x606C 0x686C Velocity actual value UNSIGNED_16
 Cyclic sync torque mode (cst)
0x60B2 0x68B2 Torque offset INTEGER_16
0x6071 0x6871 Target torque INTEGER_16
0x6077 0x6877 Torque actual value INTEGER_16
Greyed out = read access only
Object Name Data type
Axis A Axis B
0x607A 0x687A Position demand value INTEGER_32
0x60C0 0x68C0 Interpolation sub mode select INTEGER_16
0x60C2 0x68C2 Interpolation time period RECORD
0x60E0 0x68E0 Positive torque limit value UNSIGNED_16
0x60E1 0x68E1 Negative torque limit value UNSIGNED_16