Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 122)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Position control function
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EDS94TA11010xxxx EN 1.2 - 03/2010
0x60F4 - Following error actual value
0x60FA - Control effort
0x60FB - Position control parameter set
Index | Name:
0x60F4 | Following error actual value
Data type: INTEGER_32
Code: C03597
Current following error
 Following error detection
Display area (min. value | unit | max. value)
-2147483648 pos unit 2147483647
; Read access Write access CINH PLC-STOP PDO_MAP_RX ; PDO_MAP_TX
Index | Name:
0x60FA | Control effort
Data type: INTEGER_32
Code: C03598
Position setpoint for position control
Display area
(min. value | unit | max. value)
-2147483648 inc 2147483647
; Read access Write access CINH PLC-STOP PDO_MAP_RX PDO_MAP_TX
Index | Name:
0x60FB | Position control parameter set
Data type: UNSIGNED_32
Code: C03599
Manufacturer-specific parameter set for position control
Subindex Name
 0x60FB/1 Load home position
 0x60FB/2 Brake control
 0x60FB/3 Brake torque add
 0x60FB/4 Following error reaction
 0x60FB/5 Safe I/O state
 0x60FB/6 Safety module state
 0x60FB/7 Homing stop mode
Index | Name:
0x60FB/1 | Load home position
Data type: INTEGER_32
Code: C03585
Position for reference point
Setting range
(min. value | unit | max. value)
Lenze setting
-2147483647 pos unit 2147483647 0 pos unit
; Read access ; Write access CINH PLC-STOP PDO_MAP_RX PDO_MAP_TX