Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 27)

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Drive initialisation
SDO write request 0x1600/0 0 PDO1-Rx does not contain any objects; deactivate
mapping.
SDO write request 0x1600/1 0x60400010 Map the 0x6040 object (controlword) to PDO1-Rx.
SDO write request 0x1600/2 0x60C10120 Map the 0x60C1/1 object (interpolation data record/
X1) to PDO1-Rx.
SDO write request 0x1600/0 2 PDO1-Rx contains 2 objects; activate mapping.
SDO write request 0x1A00/0 0 PDO1-Tx does not contain any objects; deactivate
mapping.
SDO write request 0x1A00/1 0x60410010 Map the 0x6041 object (statusword) to PDO1-Tx.
SDO write request 0x1A00/2 0x60640020 Map the 0x6064 object (position actual value) to
PDO1-Rx.
SDO write request 0x1A00/0 2 PDO1-Tx contains 2 objects; activate mapping.
Initialisation of device profile objects
SDO write request
0x60C2/1 2 Set time base for interpolation of the position
setpoint.
• Time base = 2 * 10 -3 [s] = 2 [ms]
SDO write request 0x60C2/2 0xFD (-3)
SDO write request 0x6092/1 0x10000 Set feed constant for position values in [increments].
• One encoder revolution corresponds to 0x10000,
since the feed is usually already converted into
increments in the master control.
SDO write request 0x6060 7 Select Interpolated position mode .
Initialisation of manufacturer-specific objects
SDO write request
0x55A4 0x10000 Configure touch probe for Homing mode in C02651.
• Touch probe is triggered by motor encoder zero
pulse.
SDO write request 0x55AF 2 Select "2" for "Homing mode" operating mode in
C02640.
Process:
1.Movement in positive direction with profile data
set 1.
2.Reversing to positive travel range limit switch.
3.Positive edge of the reference switch activates
profile data set 2 for the further reference search.
4.Negative edge of the reference switch enables
home position detection.
5.The following positive edge of the encoder zero
pulse/touch probe sensor sets the reference
( 0x607C ).
6.Absolute positioning to target position (C02643)
with profile data set 2 (if 0x60FB/7 = "0").
SDO write request 0x5B9F 1 Write request on the code C01120 (sync source) for
axis synchronisation.
• Value "1" = CAN on board
SDO write request 0x5B9E 2000 Write request to code C01121 (sync cycle time).
• Sync cycle time = 2000 μs
Change of the communication status
NMT
- - Switch drive to the OPERATIONAL communication
status.
Cyclic process data exchange
PDO1-Rx to the drive
- - Transmit the process data to the drive according to
PDO mapping.
SYNC - - Process data synchronisation
PDO1-Tx from the drive - - Receive process data from the drive according to PDO
mapping.
Communication service Object Value Information