Lenze i700 - Manual (Page 203)

Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
203
7 CiA402 device profile
7.8 Cyclic sync position mode (csp)
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7.8.1 Default mapping
The default mapping for the cyclic sync position mode is defined in the following objects:
Date received from the controller (RPDO)
Data transmitted to the controller (TPDO)
Object Name Data type
Axis A Axis B
0x1600 0x1610 RPDO-->Axis A/B: Cyclic syncs position (csp) RECORD
0x1606 0x1616 RPDO-->Axis A/B: Torque limits RECORD
0x1A00 0x1A10 Axis A/B-->TPDO: Cyclic sync position (csp) RECORD
Object Name Data type
Axis A Axis B
0x6040 0x6840 Controlword UNSIGNED_16
0x2830 0x3030 Lenze control word UNSIGNED_16
0x6060 0x6860 Operating mode: Selection INTEGER_8
0x60B2 0x68B2 Torque offset INTEGER_16
0x607A 0x687A Position demand value INTEGER_32
0x60B1 0x68B1 Velocity offset INTEGER_32
0x2902 0x3102 Speed controller: Load value INTEGER_16
0x60E0 0x68E0 Positive torque limit value UNSIGNED_16
0x60E1 0x68E1 Negative torque limit value UNSIGNED_16
Object Name Data type
Axis A Axis B
0x6041 0x6841 Statusword UNSIGNED_16
0x2831 0x3031 Lenze status word UNSIGNED_16
0x6061 0x6861 Modes of operation display INTEGER_8
0x603F 0x683F Error code UNSIGNED_16
0x606C 0x686C Velocity actual value UNSIGNED_16
0x6077 0x6877 Torque actual value INTEGER_16
0x6064 0x6864 Position actual value INTEGER_32
0x60F4 0x68F4 Following error actual value INTEGER_32