Lenze i700 - Manual (Page 223)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
223
7 CiA402 device profile
7.10 Cyclic sync torque mode (cst)
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0x60B2 | 0x68B2 - Torque offset
7.10.3 Signal flow
[7-8] Signal flow of the servo control in "Cyclic sync torque mode" (simplified representation)
Short overview of the most important parameters:
Additive value for the target torque or torque feedforward control
• 100 % ≡ rated motor torque ( 0x6076 or 0x6876 for axis B)
Setting range (min. value | unit | max. value) Lenze setting
-3276.8 % 3276.7 0.0 %
 Write access  CINH  OSC  P  RX  TX Scaling: 1/10 INTEGER_16
I
q
I
d
M
CTRL
Speed limitation:
Upper speed limit
Torque offset
Target torque
Speed limitation:
Lower speed limit
Interpolation
Speed
limitation
Velocity actual value
Position actual value
Controlword
Lenze control word
Modes of operation
Statusword
Lenze status word
Modes of operation display
Positive torque limit value
Negative torque limit value
Torque
limitation
Encoder
evaluation
Field-orientated
control
Torque actual value
Function Object Name
Axis A Axis B
Input data 0x6040 0x6840 Controlword
0x2830 0x3030 Lenze control word
0x6060 0x6860 Operating mode: Selection
0x2946:1 0x3146:1 Speed limitation: Upper speed limit
0x60B2 0x68B2 Torque offset
0x6071 0x6871 Target torque
0x2946:2 0x3146:2 Speed limitation: Lower speed limit
0x60E0 0x68E0 Positive torque limit value
0x60E1 0x68E1 Negative torque limit value
Output data 0x6041 0x6841 Statusword
0x2831 0x3031 Lenze status word
0x6061 0x6861 Modes of operation display
0x6064 0x6864 Position actual value
0x606C 0x686C Velocity actual value
0x6077 0x6877 Torque actual value