1 default mapping, Default mapping, 7cia402 device profile – Lenze i700 User Manual
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7
CiA402 device profile
7.9
Cyclic sync velocity mode (csv)
210
Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
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7.9.1
Default mapping
The default mapping for the cyclic sync 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
RPDO-->Axis A/B: Cyclic sync velocity mode (csv)
RECORD
RPDO-->Axis A/B: Torque limits
RECORD
Axis A/B-->TPDO: Cyclic sync velocity mode (csv)
RECORD
Object
Name
Data type
Axis A
Axis B
Controlword
UNSIGNED_16
Lenze control word
UNSIGNED_16
Operating mode: Selection
INTEGER_8
Torque offset
INTEGER_16
Target velocity
INTEGER_32
Positive torque limit value
UNSIGNED_16
Negative torque limit value
UNSIGNED_16
Object
Name
Data type
Axis A
Axis B
Statusword
UNSIGNED_16
Lenze status word
UNSIGNED_16
Modes of operation display
INTEGER_8
Error code
UNSIGNED_16
Velocity actual value
UNSIGNED_16
Torque actual value
INTEGER_16
Position actual value
INTEGER_32