Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 142)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous position mode (IEC 61800-7)
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.12 Cyclic synchronous position mode (IEC 61800-7)
This operating mode provides a quick position follower with speed/torque/feed force
feedforward control. The motion profile to be processed is defined by the master control.
Subfunctions of the operating mode
 Calculation of the position setpoint
 Calculation of the speed feedforward control value
 Calculation of the speed feedforward control value
 Interpolation between communication cycle and control cycle
 Position control
 Speed control
 Torque control
 Update of the actual values for position, speed, and torque
Selection of operating mode
The operating mode "Cyclic synchronous position mode" is selected using the value "9" via
the 8x6060 object (mode of operation).
3.12.1 Input and output data
Input data
Index Name Data type Object type
0x6040 Control word UNSIGNED_16 VAR
0x60C0 Interpolation sub mode select INTEGER_16 VAR
0x60C2 Interpolation time period UNSIGNED_32 RECORD
0x60C4 Interpolation data configuration UNSIGNED_32 RECORD
0x607C Home offset UNSIGNED_32 VAR
0x6065 Following error window UNSIGNED_32 VAR
0x6067 Position window UNSIGNED_32 VAR
0x60B2 Torque offset INTEGER_32 VAR
0x6071 Target torque INTEGER_32 VAR
0x60B0 Offset position INTEGER_32 VAR
0x607A Target position INTEGER_32 VAR
0x60B1 Offset velocity INTEGER_32 VAR
0x60FF Target velocity INTEGER_32 VAR