Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 24)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.4.1 PDO mapping
PDO mapping must be executed during the runtime by the master control in the
PREOPERATIONAL communication status (according to the CiA DS301 communication
profile).
 The following objects can be defined as process data via the PDO channel:
Index Name Data type Object type
Common entries
0x60FD Digital inputs UNSIGNED_8 VAR
0x60FE/1 Physical outputs UNSIGNED_8 VAR
Device Control
0x6040 Control word UNSIGNED_16 VAR
0x6041 Status word UNSIGNED_16 VAR
0x6060 Mode of operation INTEGER_8 VAR
0x6061 Mode of operation display INTEGER_8 VAR
Position control functions
0x6063 Position actual value* INTEGER_32 VAR
0x6064 Position actual value INTEGER_32 VAR
0x60F4 Following error actual value INTEGER_32 VAR
0x60FB/5 Safe I/O state UNSIGNED_8 VAR
0x60FB/6 Safety module state UNSIGNED_16 VAR
Interpolated position mode
0x60C1/1 X1 INTEGER_32 VAR
Cyclic synchronous position mode
0x607A Target position INTEGER_32 VAR
Cyclic synchronous torque mode
0x6071 Target torque INTEGER_32 VAR
0x6072 Max. torque UNSIGNED_16 VAR
0x6077 Torque actual value INTEGER_32 VAR
0x6078 Current actual value INTEGER_32 VAR
Cyclic synchronous velocity mode
0x60FF Target velocity INTEGER_32 VAR
0x606C Velocity actual value INTEGER_32 VAR
Factors for the feedforward control
0x60B2 Torque offset INTEGER_32 VAR
0x60B1 Offset velocity INTEGER_32 VAR
0x60B0 Offset position INTEGER_32 VAR
Touch probe
0x60B8 Touch probe function UNSIGNED_16 VAR
0x60B9 Touch probe status UNSIGNED_16 VAR
0x60BA Touch probe position 1 positive value INTEGER_32 VAR
0x60BB Touch probe position 1 negative value INTEGER_32 VAR
0x60BC Touch probe position 2 positive value INTEGER_32 VAR
0x60BD Touch probe position 2 negative value INTEGER_32 VAR
Grayed out = read access only