Lenze i700 - Manual (Page 195)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
195
7 CiA402 device profile
7.7 Velocity mode (vl)
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7.7 Velocity mode (vl)
Selection of the operating mode
"Velocity mode" is selected with the setting "2" in
0x6060 (or 0x6860 for axis B).
7.7.1 Default mapping
The default mapping for the "Velocity mode" is defined in the following objects:
Date received from the controller (RPDO)
Data transmitted to the controller (TPDO)
Object Name Data type
Axis A Axis B
0x1603 0x1613 RPDO-->Axis A/B: Velocity mode (vl) RECORD
0x1A03 0x1A13 Axis A/B-->TPDO: Velocity mode (vl) RECORD
Object Name Data type
Axis A Axis B
0x6040 0x6840 Controlword UNSIGNED_16
0x2830 0x3030 Lenze control word UNSIGNED_16
0x6060 0x6860 Operating mode: Selection INTEGER_8
0x6042 0x6842 vl target velocity INTEGER_16
Object Name Data type
Axis A Axis B
0x6041 0x6841 Statusword UNSIGNED_16
0x2831 0x3031 Lenze status word UNSIGNED_16
0x6061 0x6861 Modes of operation display INTEGER_8
0x603F 0x683F Error code UNSIGNED_16
0x6044 0x6844 vl velocity actual value INTEGER_16