12 cyclic synchronous position mode (iec 61800-7), 1 input and output data, Cyclic synchronous position mode (iec 61800-7) – Lenze E94AxHE Technology Application CiA402 Device profile User Manual
Page 142: Input and output data, Cyclic synchronous position mode

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous position mode (IEC 61800-7)
142
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.12
Cyclic synchronous position mode (IEC 61800-7)
This operating mode provides a quick position follower with speed/torque/feed force
feedforward control. The motion profile to be processed is defined by the master control.
Subfunctions of the operating mode
Calculation of the position setpoint
Calculation of the speed feedforward control value
Calculation of the speed feedforward control value
Interpolation between communication cycle and control cycle
Position control
Speed control
Torque control
Update of the actual values for position, speed, and torque
Selection of operating mode
The operating mode "Cyclic synchronous position mode" is selected using the value "9" via
object (mode of operation).
3.12.1
Input and output data
Input data
Index
Name
Data type
Object type
Control word
UNSIGNED_16
VAR
Interpolation sub mode select
INTEGER_16
VAR
Interpolation time period
UNSIGNED_32
RECORD
Interpolation data configuration
UNSIGNED_32
RECORD
Home offset
UNSIGNED_32
VAR
Following error window
UNSIGNED_32
VAR
Position window
UNSIGNED_32
VAR
Torque offset
INTEGER_32
VAR
Target torque
INTEGER_32
VAR
Offset position
INTEGER_32
VAR
Target position
INTEGER_32
VAR
Offset velocity
INTEGER_32
VAR
Target velocity
INTEGER_32
VAR