Lenze i700 - Manual (Page 193)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
193
7 CiA402 device profile
7.6 Parameters for actuation of the position control
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
0x6062 | 0x6862 - Position demand value
0x6063 | 0x6863 - Position actual internal value
0x6064 | 0x6864 - Position actual value
0x6065 | 0x6865 - Following error window
0x6066 | 0x6866 - Following error time out
Interpolated set position for the position control
Display area (min. value | unit | max. value) Initialisation
-2147483648 [Pos unit] 2147483647 0 [Pos unit]
 Write access  CINH  OSC  P  RX  TX INTEGER_32
Actual position in internal unit
Display area (min. value | unit | max. value) Initialisation
-2147483648 Incr. 2147483647
 Write access  CINH  OSC  P  RX  TX INTEGER_32
Current position
Display area (min. value | unit | max. value) Initialisation
-2147483648 [Pos unit] 2147483647
 Write access  CINH  OSC  P  RX  TX INTEGER_32
Symmetrical tolerance window around the set position for the purpose of following error detection
• If the tolerance window is set = "0", the following error detection is deactivated.
• If the tolerance window is set > "0", the following error detection is activated, i.e. a following error will be
detected if the actual position is outside this tolerance window.
• If the following error detection is active: If the following error is detected for a period longer than that defined
in [ms] in object 0x6066 (or 0x6866 for axis B), bit 13 ("Following error") is set in the Statusword ( 0x6041 or
0x6841 for axis B).
• Object 0x60F4 (or 0x68F4 for axis B) shows the current deviation of the actual position to the set position.
Setting range
(min. value | unit | max. value)
Lenze setting
0 [Pos unit] 4294967295 1000 [Pos unit]
 Write access  CINH  OSC  P  RX  TX UNSIGNED_32
Time monitoring for following error detection
0 = following error is evaluated without time delay.
Setting range (min. value | unit | max. value) Lenze setting
0 ms 0 0 ms
 Write access  CINH  OSC  P  RX  TX UNSIGNED_16