Lenze E94AxHE Technology Application CiA402 Device profile User Manual
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EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
SDO write request
0x1600/0
0
PDO1-Rx does not contain any objects; deactivate
mapping.
SDO write request
0x1600/1
0x60400010 Map the
object (controlword) to PDO1-Rx.
SDO write request
0x1600/2
0x60C10120 Map the
object (interpolation data record/
X1) to PDO1-Rx.
SDO write request
0x1600/0
2
PDO1-Rx contains 2 objects; activate mapping.
SDO write request
0x1A00/0
0
PDO1-Tx does not contain any objects; deactivate
mapping.
SDO write request
0x1A00/1
0x60410010 Map the
object (statusword) to PDO1-Tx.
SDO write request
0x1A00/2
0x60640020 Map the
object (position actual value) to
PDO1-Rx.
SDO write request
0x1A00/0
2
PDO1-Tx contains 2 objects; activate mapping.
Initialisation of device profile objects
SDO write request
0x60C2/1
2
Set time base for interpolation of the position
setpoint.
• Time base = 2 * 10
-3
[s] = 2 [ms]
SDO write request
0x60C2/2
0xFD (-3)
SDO write request
0x6092/1
0x10000
Set feed constant for position values in [increments].
• One encoder revolution corresponds to 0x10000,
since the feed is usually already converted into
increments in the master control.
SDO write request
0x6060
7
Select
Initialisation of manufacturer-specific objects
SDO write request
0x55A4
0x10000
Configure touch probe for
in C02651.
• Touch probe is triggered by motor encoder zero
pulse.
SDO write request
0x55AF
2
Select "2" for "Homing mode" operating mode in
C02640.
Process:
1.Movement in positive direction with profile data
set 1.
2.Reversing to positive travel range limit switch.
3.Positive edge of the reference switch activates
profile data set 2 for the further reference search.
4.Negative edge of the reference switch enables
home position detection.
5.The following positive edge of the encoder zero
pulse/touch probe sensor sets the reference
(
).
6.Absolute positioning to target position (C02643)
with profile data set 2 (if
= "0").
SDO write request
0x5B9F
1
Write request on the code C01120 (sync source) for
axis synchronisation.
• Value "1" = CAN on board
SDO write request
0x5B9E
2000
Write request to code C01121 (sync cycle time).
• Sync cycle time = 2000 μs
Change of the communication status
NMT
-
-
Switch drive to the OPERATIONAL communication
status.
Cyclic process data exchange
PDO1-Rx to the drive
-
-
Transmit the process data to the drive according to
PDO mapping.
SYNC
-
-
Process data synchronisation
PDO1-Tx from the drive
-
-
Receive process data from the drive according to PDO
mapping.
Communication service
Object
Value
Information