Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 189)

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Step-by-step commissioning
Settings for "Homing mode"
4.4 Settings for "Homing mode"
For "Homing mode" the following parameters must be set:
4.5 Settings for "Interpolated position mode"
For the "Interpolated position mode" the following parameters must be set:
[4-2] Definition of the interpolation cycle time
4.6 Speed feedforward control
The source for the speed feedforward control can be selected in C02680 (CiA402 object
0x5587).
 The following options are available:
– The source for feedforward control is the 0x60FF object (target velocity).
– The value for the feedforward control is derived from the position data.
 If you select the interpolation algorithm 0x60C0 = "-11: Optimized mode 1", the
feedforward control values are generated from the interpolation process.
Parameter Object Information
C02640 0x55AF Homing mode
C02641 0x60FB/7 Drive behaviour after setting the home position
C02642 0x607C Home position
C02644 0x6099/1 Speed 1
C02645 0x609A/1 Acceleration 1
C02646 0x6099/2 Speed 2
C02647 0x609A/2 Acceleration 2
C02651 C055A4 TP configuration
Parameter Object Information
C03630 0x60C0 Selection of the interpolation algorithm
C03637 0x60C2/1 Adaptation of interpolation cycle time to communication cycle time
C03638 0x60C2/2
0x60C2/1 : ip time units
0x60C2/2 : ip time index
Interpolation cycle time s [ ] ip time units 10
ip time index
s [ ] ⋅ =