Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 188)

9400 Technology applications | CiA402 device profile
Step-by-step commissioning
Set machine parameters
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EDS94TA11010xxxx EN 1.2 - 03/2010
4.2 Set machine parameters
4.3 Setting communication parameters for CANopen
For the system bus (CAN) communication, the communication cycle time and the control
cycle time must be synchronised via the SYNC telegram. You must adapt the following
parameters for this mechanism accordingly.
Example:
 ETC selection:
 Additionally required settings in the parameter list:

Note!
Usually, the position data is defined and interpreted in increments by the master
control. In this case the feed constant and gearbox factor are already considered
by the control and must be set in the controller as listed in the following table.
Parameter Object Name Setting
C02524 0x6092/1 Feed constant
• General normalisation:
65535 Increment ≡ 1 motor revolution
Setting for ETC: 6.5536
C02520 0x6091/1 Gearbox factor numerator: Motor 1
C02521 0x6091/2 Gearbox factor denom.: Motor 1
Parameter Object Name Setting
- 0x60C2/1 CiA402 Ip time units 20
- 0x60C2/2 CiA402 Ip time index -4
Parameter Object Name Setting
C01120 0x5B9F Sync source 1: CAN on board
or
2: CAN module
C01121 0x5B9E Sync cycle time 2000 μs
C01122 0x5B9D Sync phase position 400 μs
C01124 0x5B9B Sync-PLL increment 210 ns (> 100 ns)