Lenze S94CAN01A - Manual (Page 10)

8 ENGLISH
Communication Objects
4.3 Communication Objects
OBJECT NAME DESCRIPTION
1000h Device Type The E94 Drive is not DSP 402 compliant but follows some
of the major velocity and torque profiles recommendations.
Therefore it uses custom device profile value of
0x00022192.
1001h Error Register The following values are allowed:
0 – NO error
1 – over voltage
2 – feedback error
3 – over current
4 – over temperature
5 – external fault detection
6 – over speed
7 – position error excess
8 – bad motor data
1008h Manufacturer Device Name Drive 94 uses the ‘SS94’ device name
1009h Manufacturer Hardware Version It is 0x94xx where xx is the current version number
100Ah Manufacturer Software Version It is 0x94xx where xx is the current version number
1017h Producer Heartbeat Time See 1.2 above
1018h Identity Object Vendor ID – 0x00456765
Product Code - 0x0000005E
1400h 1 st receive PDO Parameter
(Torque)
Asynchronous PDO with 255 transmission type used only
if the drive is in CAN Torque mode. The target torque
update is triggered immediately upon receiving of this
RPDO.
Sub index 01 contains the RPDO COB-ID and has R/W
access. The default value of this COB-ID is 0x200 + CAN
network node id/address.
1401h 2 nd receive PDO Parameter
(Velocity)
Asynchronous PDO with 255 transmission type and used
only if the drive is in CAN Velocity mode. The target
velocity update is triggered immediately upon receiving of
this RPDO.
Sub index 01 contains the RPDO COB-ID and has R/W
access. The default value of this COB-ID is 0x300 + CAN
network node id/address.
1600h 1 st receive PDO Mapping (Torque) Only the following static mapping is supported:
Sub index 01 -> 6040h Control word
Sub index 02 -> 6071h Target Torque
NOTE: This object is used only in CAN Torque mode
1601h 2 nd receive PDO Mapping (Velocity) Only the following static mapping is supported:
Sub index 01 -> 6040h Control word
Sub index 02 -> 60FFh Target Velocity
NOTE: This object is used only in CAN Velocity mode