Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 20)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Short overview of the CiA402 objects
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EDS94TA11010xxxx EN 1.2 - 03/2010
0x6097 Acceleration factor UNSIGNED_32 ARRAY
1: Numerator UNSIGNED_32
2: Divisor UNSIGNED_32
Position control functions
0x6062 Position demand value unit INTEGER_32 VAR
0x6063 Position actual value intern (increments) INTEGER_32 VAR
0x6064 Position actual value unit INTEGER_32 VAR
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
0x60F4 Following error actual value INTEGER_32 VAR
0x60FA Control effort INTEGER_32 VAR
0x60FB Position control parameter set UNSIGNED_32 RECORD
1: Load home position INTEGER_32
2: Brake control UNSIGNED_8
3: Brake torque add INTEGER_32
4: Following error reaction UNSIGNED_16
5: Safe IO state UNSIGNED_8
6: Safety module state UNSIGNED_16
7: Homing stop mode UNSIGNED_32
0x60FC Position demand value* INTEGER_32 VAR
Homing mode
0x607C Home position INTEGER_32 VAR
0x6098 Homing method INTEGER_8 VAR
0x6099 Homing speeds UNSIGNED_32 ARRAY
1: Speed during search for switch UNSIGNED_32
2: Speed during search for zero UNSIGNED_32
0x609A Homing acceleration UNSIGNED_32 ARRAY
1: Acc. during search for switch UNSIGNED_32
2: Acc. during search for zero UNSIGNED_32
Interpolated position mode
0x60C0 Interpolation sub mode select INTEGER_16 VAR
0x60C1 Interpolation data record INTEGER_32 ARRAY
1: X1 UNSIGNED_32
0x60C2 Interpolation time period UNSIGNED_32 RECORD
1: ip time units UNSIGNED_32
2: ip time index UNSIGNED_32
0x60C3 Interpolation sync definition UNSIGNED_8 RECORD
1: Synchronize on group UNSIGNED_32
2: ip sync every n event UNSIGNED_32
Index Name
(Subindex: designation)
Data type Object type
Grayed out = read access only