Lenze S94CAN01A - Manual (Page 12)

10 ENGLISH
Drive Objects
5. Drive 94 Specific Objects and functionality
When using the CANopen protocol the E94 drive has two modes of operation.
• CAN Velocity Mode
• CAN Torque Mode.
5.1 CAN Velocity mode
The Velocity reference is provided internally through the Object 60FFh (Target Velocity)
statically mapped in RPDO2. Commands can be sent to the drive through the Object 6040h
(Control Word) also statically mapped in RPDO2.
Please see the Object 6040h (Control Word) description below for the available
commands.
The CANopen network master should use the RPDO2 service to provide Target Velocity
and Control Commands to the drive.
The E94 Drive uses TPDO2 to send to the master status information through the Object
6041h Status word and the current velocity value through the Object 606Ch Velocity
Actual Value. Please see the Object 6041h Status word description below for the
available status information.
The drive94V.eds file is provided for usage by the CANopen master when the drive is in
CAN Velocity mode.
5.2 CAN Torque mode
The Torque reference is provided internally through the Object 6071h (Target Torque)
statically mapped in RPDO1. Commands can be sent to the drive through the Object 6040h
(Control Word) also statically mapped in RPDO2.
Please see the Object 6040h (Control Word) description below for the available
commands.
The CANopen network master should use the RPDO1 service to provide Target Torque and
Control Commands to the drive.
Drive 94 uses TPDO1 to send to the master status information through the Object 6041h
Status word and the current velocity value through the Object 6077h Torque Actual
Value. Please see the Object 6041h Status word description below for the available status
information.
The drive94T.eds file is provided for usage by the CANOpen master when the drive is in
CAN Torque mode.