Lenze i700 - Communication Objects; 0 X1600 - RPDO->Axis A: Cyclic Sync Position Mode (Csp)

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 335
11 Appendix
11.3 Communication objects
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11.3 Communication objects
This chapter describes the "invisible" communication objects of the i700 servo inverter. This
information is important for the integration of the controller with an external control.
Objects described in this chapter
All objects are of "RECORD" data type.
0x1600 - RPDO-->Axis A: Cyclic sync position mode (csp)
Object Name
Axis A Axis B
PDO mapping
0x1600
0x1610 RPDO-->Axis A/B: Cyclic sync position mode (csp)
0x1601
0x1611 RPDO-->Axis A/B: Cyclic sync torque mode (cst)
0x1602
0x1612 RPDO-->Axis A/B: Cyclic sync velocity mode (csv)
0x1603 0x1613 RPDO-->Axis A/B: Velocity mode (vl)
0x1604
0x1614 RPDO-->Axis A/B: Touch probe (TP)
0x1605
0x1615 RPDO-->Axis A/B: Freely configurable (user)
0x1606
0x1616 RPDO-->Axis A/B: Torque limits
0x1607
0x1617 RPDO-->Axis A/B: Speed limit values
0x1A00
0x1A10 Axis A/B-->TPDO: Cyclic sync position mode (csp)
0x1A01
0x1A11 Axis A/B-->TPDO: Cyclic sync torque mode (cst)
0x1A02
0x1A12 Axis A/B-->TPDO: Cyclic sync velocity mode (csv)
0x1A03
0x1A13 Axis A/B-->TPDO: Velocity mode (vl)
0x1A04
0x1A14 Axis A/B-->TPDO: Touch probe (TP)
0x1A05
0x1A15 Axis A/B-->TPDO: Freely configurable (user)
0x1A06
0x1A16 Axis A/B-->TPDO: Additional status information
Sync manager
0x1C00
Sync Manager: Communication type
0x1C12
Sync Manager 2 (RPDO-->Device): PDO mapping
0x1C13 Sync Manager 3 (RPDO-->Device): PDO mapping
0x1C32
Sync Manager 2 (RPDO-->Device): Parameter
0x1C33
Sync Manager 3 (Device-->TPDO): Parameter
Fixed, preconfigured PDO mapping object for "Cyclic sync position mode"
Sub. Name Lenze setting Data type
1 (csp) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (csp) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (csp) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (csp) RPDO-->A: 0x60B2 (Torque: Offset) 0x60B20010 UNSIGNED_32
5 (csp) RPDO-->A: 0x607A (Target position) 0x607A0020 UNSIGNED_32
6 (csp) RPDO-->A: 0x60B1 (Velocity offset) 0x60B10020 UNSIGNED_32
7 (csp) RPDO-->A: 0x2902 (speed controller - load starting value) 0x29020010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX