Lenze CANopen control technology - Manual (Page 74)

Control technology | CANopen communication manual
Commissioning the CANopen Motion bus
Commissioning of field devices
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DMS 4.2 EN 07/2011 TD17
9.2 Commissioning of field devices
Not all parameters required for operating a Motion drive are set automatically via the
control.
Set the following parameters manually via the »Engineer« or the »Global Drive Control«:
 Servo Drives 9400 HighLine CiA402:
– Homing mode (C02640, to be set machine-dependent)
– Touch-probe interface (to be set machine-dependent)
– The behaviour is automatically set via the control after the home position is
detected.
– Sync phase position:
- When the "CAN on board" interface is used, set C01122 = 120 μs.
- When a CANopen module is used, set C01122 = 300 μs.
 ECSxM axis module:
– Touch-probe source (C0428, to be set machine-dependent)
– Touch-probe dead time compensation (C0429, to be set machine-dependent)
– Touch-probe edge (C0431, to be set machine-dependent)
– Homing mode (C3010, to be set machine-dependent)
– Synchronisation phase (C01122 = 0.46 ms = (Lenze setting))
– Control of a possibly existing 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 the
bit 2 in this parameter (disable stop => does not apply the brake in standstill).