Lenze E94AxHE Technology Application CiA402 Device profile User Manual
Ä.?5sä, 9400 l-force runtime software
Table of contents
Document Outline
- Technology application "CiA402 device profile"
- Overview of the technical documentation for 9400 Servo Drives
- Contents
- 1 About this documentation
- 2 Short description
- 3 Parameter setting & configuration
- 3.1 Basic signal flow
- 3.2 Assignment of the I/O terminals
- 3.3 Short overview of the CiA402 objects
- 3.4 Drive initialisation
- 3.5 Structure of the object descriptions
- 3.6 Common entries
- 3.7 Device control
- 3.8 Factor group
- 3.9 Homing mode
- 3.9.1 Input and output data
- 3.9.2 Object description
- 3.9.3 Behaviour of the home position after mains switching
- 3.9.4 Homing mode
- 3.9.5 Home position & target position
- 3.9.6 Drive behaviour after setting the home position
- 3.9.7 Profile data set change-over
- 3.9.8 Overview of CiA402 homing modes
- 3.9.9 Control commands & status information
- 3.9.10 Basic function "Homing"
- 3.10 Position control function
- 3.11 Interpolated position mode
- 3.12 Cyclic synchronous position mode (IEC 61800-7)
- 3.13 Cyclic synchronous velocity mode (IEC 61800-7)
- 3.14 Cyclic synchronous torque mode (IEC 61800-7)
- 3.15 Touch probe
- 3.16 Torque limiting
- 3.17 Parameterisable additional functions
- 3.17.1 Undervoltage recognition of the DC link
- 3.17.2 Connection between limiter and safety module
- 3.17.3 Dynamic change of the proportional gain Vp of the speed controller
- 3.17.4 Dynamic change of the proportional gain Vp of the angle/position controller
- 3.17.5 Telegram failure recognition and monitoring
- 3.18 Using the FB Editor
- 3.19 Internal interfaces | function block "L_CiA402DeviceProfile"
- 3.20 Application error messages
- 3.21 Parameterisable function blocks
- 4 Step-by-step commissioning
- 5 Parameter reference
- 5.1 Structure of the parameter descriptions
- 5.2 Parameter list
- C03001 | UG min threshold
- C03002 | Selection of limiter / safety interconnection
- C03010 | Max. telegram failure value
- C03011 | Counter SingleError
- C03012 | Counter MultiError
- C03013 | Reset Errorcounter
- C03500 | CiA402 profile
- C03503 | Motor type
- C03504 | Motor catalog number
- C03505 | Motor manufacturer
- C03506 | Http motor catalog address
- C03507 | Motor calibration date
- C03508 | Motor service period
- C03509 | Motor data
- C03512 | Drive manufacturer
- C03513 | Http drive catalogue address
- C03514 | Supported drive modes
- C03515 | Digital inputs
- C03516 | Digital outputs
- C03517 | Physical outputs
- C03518 | Bit mask
- C03519 | Abort connection option code
- C03520 | Error code
- C03521 | Supported drive modes
- C03522 | Drive catalog number
- C03530 | Control word
- C03531 | Status word
- C03532 | Shutdown option code
- C01533 | DS402 disable operation option code
- C03534 | Quick stop option code
- C03535 | Halt option code
- C03536 | Fault reaction option code
- C03537 | Mode of operation
- C03538 | Mode of operation display
- C03550 | Position notation index
- C03551 | Position dimension index
- C03552 | Velocity notation index
- C03553 | Velocity dimension index
- C03554 | Acceleration notation index
- C03555 | Acceleration dimension index
- C03556 | Position encoder resolution
- C03557 | Encoder increments
- C03558 | Motor revolution
- C03559 | Velocity encoder resolution
- C03560 | Encoder increments per second
- C03561 | Motor revolutions per second
- C03562 | Gear ratio
- C03565 | Feed constant
- C03567 | Feed shaft revolutions
- C03568 | Position factor
- C03569 | Position factor numerator
- C03570 | Position factor divisor
- C03571 | Velocity encoder factor
- C03572 | Velocity encoder factor numerator
- C03573 | Velocity encoder factor divisor
- C03574 | Velocity factor1
- C03575 | Velocity factor1 numerator
- C03576 | Velocity factor1 divisor
- C03577 | Velocity factor2
- C03578 | Velocity factor1 numerator
- C03579 | Velocity factor2 divisor
- C03580 | Acceleration factor
- C03581 | Acceleration factor numerator
- C03582 | Acceleration factor divisor
- C03583 | Polarity
- C03585 | Load home position
- C03590 | Position demand value unit
- C03591 | Position actual value
- C03592 | Position actual value unit
- C03593 | Following error window
- C03594 | Following error time out
- C03595 | Position window
- C03596 | Position window time
- C03597 | Following error actual value
- C03598 | Control effort
- C03599 | Position control parameter set
- C03600 | Position demand value
- C03601 | Homing method
- C03602 | Brake control
- C03603 | Brake torque add
- C03604 | Following error reaction
- C03605 | Safe IO state
- C03606 | Safety module state
- C03612 | Homing speeds
- C03615 | Homing acceleration
- C03630 | Interpolation sub mode select
- C03631 | Interpolation data record
- C03632 | Interpolated data X1
- C03636 | Interpolation time period
- C03637 | Ip time units
- C03638 | Ip time index
- C03639 | Interpolation sync definition
- C03640 | Synchronize on group
- C03641 | Ip sync every N event
- C03642 | Interpolation data configuration
- C03643 | Max buffer size
- C03644 | Actual buffer size
- C03645 | Buffer organization
- C03646 | Buffer position
- C03647 | Size of data record
- C03648 | Buffer clear
- C03653 | Velocity actual value
- C03654 | Offset velocity
- C03658 | Target velocity
- C03670 | Target torque
- C03673 | Torque demand value
- C03677 | Torque actual value
- C03678 | Current actual value
- C03679 | Torque slope
- C03680 | Torque profile type
- C03681 | Power stage parameters
- C03682 | Torque control parameters
- C03683 | Torque offset
- C03684 | Positive speed limit
- C03685 | Negative speed limit
- C03686 | Positive torque limit
- C03687 | Negative torque limit
- C03688 | Max torque
- C03690 | Target position
- C03691 | Offset position
- C03700 | Touch probe function
- C03701 | Touch probe function
- C03706 | Touch probe pos1 pos value
- C03707 | Touch probe pos1 neg value
- C03708 | Touch probe pos2 pos value
- C03709 | Touch probe pos2 neg value
- 5.3 Attribute table
- 6 Index
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