3 communication with the controller, 1 acceleration of the system (initialisation), Communication with the controller – Lenze i700 User Manual
Page 22: Acceleration of the system (initialisation), 3communication with the controller, Stop
3
Communication with the controller
3.1
Acceleration of the system (initialisation)
22
Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
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3
Communication with the controller
Objects described in this chapter
Tip!
The communication objects important for the integration of the controller with external
control are described in the appendix.
3.1
Acceleration of the system (initialisation)
To establish communication, the i700 servo inverter must be supplied with voltage. During the
acceleration of the system, the controller and the drive exchange configuration data.
The controller transmits the following configuration data to the i700 servo inverter:
• Bus cycle
• This is the basic cycle within which the EtherCAT bus is actuated. The bus cycle is given as a
multiple of 125 μs.
• The bus cycle equals the communication cycle within which the process data are exchanged
cyclically. New process data are only accepted and generated in the Servo-Inverter i700
maximally every 250 μs.
• Parameter set determined during commissioning.
• Among other things, it includes information about feedforward control values, the mains
voltage and the switching frequency as well as controller parameters adapted to the motor
module which are used for the motor control.
• Configuration of the process data transmitted cyclically via EtherCAT (PDO mapping)
"EtherCAT control technology" communication manual
Here you will find detailed information on the EtherCAT configuration and
commissioning of Lenze devices in the EtherCAT network.
Object
Name
Data type
Axis A
Axis B
EoE information
RECORD
Device control via PDO: Activation
UNSIGNED_8
Lenze control word
UNSIGNED_16
Lenze status word
UNSIGNED_16
Lenze statusword 2
UNSIGNED_16
Stop!
Before switching on the i700 servo inverter for the first time, check the entire wiring with
regard to completeness, short circuit, and earth fault.