Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 149)

EDS94TA11010xxxx EN 1.2 - 03/2010
L
149
9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous velocity mode (IEC 61800-7)
3.13 Cyclic synchronous velocity mode (IEC 61800-7)
This operating mode provides a fast speed follower with torque/feed force feedforward
control. The speed profile to be processed is defined by the master control.
Subfunctions of the operating mode
 Calculation of the speed setpoint
 Calculation of the speed feedforward control value
 Interpolation between communication cycle and control cycle
 Speed control
 Torque control
 Limitation of the motor speed
 Update of the actual values for position, speed, and torque
Selection of operating mode
The "Cyclic synchronous velocity mode" is selected using the value "9" via the
0x6060
object (mode of operation).
3.13.1 Input and output data
Input data
Output data
Index Name Data type Object type
0x6040 Control word UNSIGNED_16 VAR
0x60C2 Interpolation time period UNSIGNED_32 RECORD
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
0x6064 Position actual value INTEGER_32 VAR
0x606C Velocity actual value INTEGER_32 VAR
0x6077 Torque actual value INTEGER_32 VAR
Grayed out = read access only