Lenze i700 - Manual (Page 205)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
205
7 CiA402 device profile
7.8 Cyclic sync position mode (csp)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
0x607A | 0x687A - Target position
0x60C0 | 0x68C0 - Interpolation sub mode select
0x60C2 | 0x68C2 - Interpolation time period
[7-4] Definition of the interpolation time period
Setting range (min. value | unit | max. value) Lenze setting
-2147483648 [Pos unit] 2147483647 0 [Pos unit]
 Write access  CINH  OSC  P  RX  TX INTEGER_32
From version 01.03
Interpolation sub mode select
0 = linear position interpolation
-1 = square position interpolation
All other values have no function and are rejected.
Setting range (min. value | unit | max. value) Lenze setting
-32768 32767 0
 Write access  CINH  OSC  P  RX  TX INTEGER_16
If a Lenze Controller is used, the interpolation time interval is automatically set to the time given in the »PLC
Designer« as EtherCAT master cycle time.
• Only if a controller of a third-party manufacturer is used: Set the interpolation time interval used for the process
data communication in this object.
• Preset interpolation time interval = 1 * 10 -3 s = 1 ms
Sub. Name Lenze setting Data type
 1 Interpolation time period 1 10^(Interpolation time index) s UNSIGNED_8
 2 Interpolation time index -3 INTEGER_8
Subindex 1: Interpolation time period
Basic multiplier for interpolation time interval
Setting range
(min. value | unit | max. value) Lenze setting
0 10^(Interpolatio
n time index) s
255 1 10^(Interpolation time index) s
 Write access  CINH  OSC  P  RX  TX UNSIGNED_8
Subindex 2: Interpolation time index
Exponent for interpolation time period
Setting range
(min. value | unit | max. value) Lenze setting
-6 0 -3
 Write access  CINH  OSC  P  RX  TX INTEGER_8
Interpolation time period s [ ] Time period value 10
Index
s [ ] ⋅
=