14 cyclic synchronous torque mode (iec 61800-7), 1 input and output data, Cyclic synchronous torque mode (iec 61800-7) – Lenze E94AxHE Technology Application CiA402 Device profile User Manual
Page 156: Input and output data, Cyclic synchronous torque mode

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous torque mode (IEC 61800-7)
156
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.14
Cyclic synchronous torque mode (IEC 61800-7)
This operating mode provides a fast torque follower with speed limitation. The torque
profile to be processed is defined by the master control.
Subfunctions of the operating mode
Calculation of the torque setpoint
Interpolation between communication cycle and control cycle
Torque control
Limitation of the motor speed
Update of the actual values for position, speed, and torque
Selection of operating mode
The "Cyclic synchronous torque mode" is selected using the value "10" via the
object (mode of operation).
3.14.1
Input and output data
Input data
Output data
Index
Name
Data type
Object type
Control word
UNSIGNED_16
VAR
Interpolation time period
UNSIGNED_32
RECORD
Torque offset
INTEGER_32
VAR
Target torque
INTEGER_32
VAR
Max. torque
UNSIGNED_16
VAR
Motor rated torque
UNSIGNED_32
VAR
Torque control parameters
UNSIGNED_32
RECORD
Index
Name
Data type
Object type
Status word
UNSIGNED_16
VAR
Position actual value
INTEGER_32
VAR
Velocity actual value
INTEGER_32
VAR
Torque actual value
INTEGER_32
VAR
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