Operating Mode "Cia 402 Cyclic Sync Velocity Mode (Csv); Default Mapping - Lenze i950 Commissioning Manual

10.3

Operating mode "CiA 402 Cyclic sync velocity mode (csv)"

This operating mode provides a fast velocity follower with torque/feed force feedforward con-
trol.
Subfunctions of the operating mode
Interpolation between communication cycle and control cycle
•
Speed control
•
Limitation of the motor speed
•
Update of the actual values for position, velocity and torque
•
10.3.1

Default mapping

The default mapping for the cyclic sync velocity mode (csv)" is defined in the following param-
eters.
Parameter Designation
0x1602 RPDO-->axis: cyclic sync velocity mode (csv)
0x1606 RPDO-->axis: torque limit
0x1A02 Axis-->TPDO: cyclic sync velocity mode (csv)
Data received from the Controller (RPDO)
Parameter Designation
0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x60B2 Torque: offset
0x60FF Velocity: setpoint velocity
0x60E0 Torque: positive limit value
0x60E1 Torque: negative limit value
Data sent to the Controller (TPDO)
Parameter Designation
0x6041 CiA402 status word
0x2831 Lenze status word
0x6061 Operating mode: display
0x603F Error code
0x606C Velocity: actual velocity
0x6077 Torque: actual torque
0x6064 Position: actual position
Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Default mapping
Data type
RECORD
RECORD
RECORD
Data type
UNSIGNED_16
UNSIGNED_16
INTEGER_8
INTEGER_16
INTEGER_32
UNSIGNED_16
UNSIGNED_16
Data type
UNSIGNED_16
UNSIGNED_16
INTEGER_8
UNSIGNED_16
UNSIGNED_16
INTEGER_16
INTEGER_32
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