Lenze EtherCAT Controller-based Automation - Manual (Page 92)

7 Commissioning of the system
7.3 Detailed description of the commissioning steps
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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7.3.13 Setting SoftMotion parameters
In the case of the Servo-Inverter i700, all the parameters needed for operation are stipulated by
means of the Lenze controller (settings via the »PLC Designer«).
 Commissioning the i700 servo inverter ( 44)
In the case of the Servo Drive 9400 Highline CiA402 in contrast, the following parameters must be
set manually via »Engineer«:
• Homing mode (C02640, set in application-dependent manner)
• Touch probe interface (set in application-dependent manner)
• Control of the holding brake (0x60FB/2 | Brake control)
Depending on the setting of this parameter, the holding brake is applied for a short time after
the conclusion of the home position path. In order to avoid this, set bit 2 in this parameter
("disable stop": does not apply the brake at standstill).
These parameters are not set via the Lenze Controller.
Example of a minimum configuration with a Motion device (Servo Drive 9400 HighLine CiA 402)

Note!
In »PLC Designer«, the SoftMotion tabs are only available in the case of field devices that
use a Motion application.
• i700 servo inverter
• Servo Drive 9400 Highline CiA402
The SoftMotion parameters are to be set in relation to the application.