Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 131)

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Interpolated position mode
3.11 Interpolated position mode
The "Interpolated position mode" is required for a coordinated traversing of axes
depending on each other or for traversing of single axes with time interpolation of the
setpoints.
Selection of operating mode
The "Interpolated position mode" is selected using the value "7" via the
0x6060 object
(mode of operation).
3.11.1 Input and output data
Input data
Output data

Stop!
If a limit switch is approached using this operating mode and an error is caused
followed by the "Quick stop by trouble" response, a setpoint/actual value
adjustment of the position must always be executed before acknowledging the
error as otherwise an uncontrolled motor movement may occur after
acknowledging the error!
Index Name Data type Object type
0x6040 Control word UNSIGNED_16 VAR
0x60C0 Interpolation sub mode select INTEGER_16 VAR
0x60C1 Interpolation data record INTEGER_32 ARRAY
0x60C2 Interpolation time period UNSIGNED_32 RECORD
0x60C4 Interpolation data configuration UNSIGNED_32 RECORD
0x607C Home offset UNSIGNED_32 VAR
0x6065 Following error window UNSIGNED_32 VAR
0x6067 Position window UNSIGNED_32 VAR
0x60B2 Torque offset INTEGER_32 VAR
0x6071 Target torque INTEGER_32 VAR
0x60B1 Offset velocity INTEGER_32 VAR
0x60FF Target velocity INTEGER_32 VAR
Index Name Data type Object type
0x6041 Status word UNSIGNED_16 VAR
0x60FC Position demand value* INTEGER_32 VAR
0x6063 Position actual value* INTEGER_32 VAR
0x60F4 Following error actual value INTEGER_32 VAR
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