Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 156)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Cyclic synchronous torque mode (IEC 61800-7)
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.14 Cyclic synchronous torque mode (IEC 61800-7)
This operating mode provides a fast torque follower with speed limitation. The torque
profile to be processed is defined by the master control.
Subfunctions of the operating mode
 Calculation of the torque setpoint
 Interpolation between communication cycle and control cycle
 Torque control
 Limitation of the motor speed
 Update of the actual values for position, speed, and torque
Selection of operating mode
The "Cyclic synchronous torque mode" is selected using the value "10" via the
0x6060
object (mode of operation).
3.14.1 Input and output data
Input data
Output data
Index Name Data type Object type
0x6040 Control word UNSIGNED_16 VAR
0x60C2 Interpolation time period UNSIGNED_32 RECORD
0x60B2 Torque offset INTEGER_32 VAR
0x6071 Target torque INTEGER_32 VAR
0x6072 Max. torque UNSIGNED_16 VAR
0x6076 Motor rated torque UNSIGNED_32 VAR
0x60F6 Torque control parameters UNSIGNED_32 RECORD
Index Name Data type Object type
0x6041 Status word UNSIGNED_16 VAR
0x6064 Position actual value INTEGER_32 VAR
0x606C Velocity actual value INTEGER_32 VAR
0x6077 Torque actual value INTEGER_32 VAR
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