Lenze i550

12.6 Device prole CiA 402
The CiA® 402 device prole denes the funconal behaviour of stepping motors, servo drives,
and frequency inverters. In order to be able to describe the dierent drive types, various oper-
ang modes and device parameters are specied in the device prole. Each operang mode
provides objects (e.g. for the setpoint speed, acceleraon and deceleraon) to generate the
desired drive behaviour.
•
CiA® is a registered community trademark of the CAN in Automaon e. V user organisa-
on.
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More informaon can be found in the CiA 402 specicaon(CANopen device prole for
drives and Moon Control) of the CAN in Automaon (CiA) user organisaon: hp://
www.can-cia.org
12.6.1 Supported operang modes
The inverter only supports the CiA 402 operang mode "CiA: Velocity mode".
Details
In the following, the steps required for conguring the operang mode "CiA: Velocity mode"
are described.
1.
Set the operang mode "CiA: Velocity mode [2]" in 0x6060 (P301.00).
2.
Setpoint speed is specied via the parameter "Target velocity" 0x6042 (P781.00).
3.
Process input data and process output data are available for the control in the CiA402.
The following signal ow shows the internal setpoint logics:
Velocity
limit
function
Ramp
function
Velocity
control
function
vl target velocity (0x6042)
vl velocity min/max amount (0x6046)
vl velocity acceleration (0x6048)
vl velocity deceleration (0x6049)
vl demand
value (0x6043)
vl velocity actual
value (0x6044)
The "CiA: Velocity mode" operang mode is now acve and the inverter reacts to the setpoint
speed specied via the network.
Parameter
Address Name / seng range / [default seng] Info
0x6060
(P301.00)
Modes of operaon
(Modes of op.)
•
Seng can only be changed if the inverter is inhibi-
ted.
Selecon of the operang mode.
-2 MS: Velocity mode Vendor specic velocity mode
4Conguring the frequency control ^ 82
-1 MS: Torque mode (from version 03.00) Vendor specic torque mode
•
Only possible in motor control type 0x2C00 (P300.00) = "Sensorless
vector control (SLVC) [4]" or "Servo control (SC ASM) [2]".
4Conguring the torque control ^ 149
0 No mode change/no mode assigned No operang mode (standsll)
2 CiA: Velocity mode CiA 402 velocity mode
0x6061
(P788.00)
Modes of operaon display
(Modes of op. dis)
•
Read only
Display of the current operang mode.
-2 MS: Velocity mode Vendor specic velocity mode
-1 MS: Torque mode (from version 03.00) Vendor specic torque mode
0 No mode change/no mode assigned No operang mode (standsll)
2 CiA: Velocity mode CiA 402 velocity mode
Conguring the network
Device prole CiA 402
Supported operang modes
307