Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 132)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Interpolated position mode
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.11.2 Object description
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:
Index Name Data type Object type
Device control
0x6040 Control word UNSIGNED_16 VAR
0x6041 Status word UNSIGNED_16 VAR
Position control function
0x6065 Following error window UNSIGNED_32 VAR
0x6066 Following error time out UNSIGNED_32 VAR
0x6067 Position window UNSIGNED_32 VAR
0x6068 Position window time UNSIGNED_32 VAR
0x6062 Position demand value INTEGER_32 VAR
0x6063 Position actual value* INTEGER_32 VAR
0x6064 Position actual value INTEGER_32 VAR
0x60F4 Following error actual value INTEGER_32 VAR
0x60FC Position demand value* INTEGER_32 VAR
Homing mode
0x607C Home offset UNSIGNED_32 VAR
Cyclic synchronous torque mode (IEC 61800-7)
0x60B2 Torque offset INTEGER_32 VAR
0x6071 Target torque INTEGER_32 VAR
Cyclic synchronous velocity mode (IEC 61800-7)
0x60B1 Offset velocity INTEGER_32 VAR
0x60FF Target velocity INTEGER_32 VAR
Grayed out = read access only
Index Name Data type Object type
0x60C0 Interpolation sub mode select INTEGER_16 VAR
0x60C1 Interpolation data record INTEGER_32 ARRAY
0x60C2 Interpolation time period UNSIGNED_32 RECORD
0x60C3 Interpolation sync definition UNSIGNED_8 RECORD
0x60C4 Interpolation data configuration UNSIGNED_32 RECORD
Grayed out = read access only