2 set machine parameters, 3 setting communication parameters for canopen, Set machine parameters – Lenze E94AxHE Technology Application CiA402 Device profile User Manual
Page 188: Setting communication parameters for canopen

9400 Technology applications | CiA402 device profile
Step-by-step commissioning
Set machine parameters
188
L
EDS94TA11010xxxx EN 1.2 - 03/2010
4.2
Set machine parameters
4.3
Setting communication parameters for CANopen
For the system bus (CAN) communication, the communication cycle time and the control
cycle time must be synchronised via the SYNC telegram. You must adapt the following
parameters for this mechanism accordingly.
Example:
ETC selection:
Additionally required settings in the parameter list:
Note!
Usually, the position data is defined and interpreted in increments by the master
control. In this case the feed constant and gearbox factor are already considered
by the control and must be set in the controller as listed in the following table.
Parameter
Object
Name
Setting
C02524
Feed constant
• General normalisation:
65535 Increment ≡ 1 motor revolution
Setting for ETC: 6.5536
C02520
Gearbox factor numerator: Motor
1
C02521
Gearbox factor denom.: Motor
1
Parameter
Object
Name
Setting
-
CiA402 Ip time units
20
-
CiA402 Ip time index
-4
Parameter
Object
Name
Setting
C01120
0x5B9F
Sync source
1: CAN on board
or
2: CAN module
C01121
0x5B9E
Sync cycle time
2000 μs
C01122
0x5B9D
Sync phase position
400 μs
C01124
0x5B9B
Sync-PLL increment
210 ns (> 100 ns)