Lenze i700 - 0 X1601 - RPDO->Axis A: Cyclic Sync Torque Mode (Cst); 0 X1602 - RPDO->Axis A: Cyclic Sync Velocity Mode (Csv); 0 X1603 - RPDO->Axis A: Velocity Mode (Vl); 0 X1604 - RPDO->Axis A: Touch Probe (TP)

11 Appendix
11.3 Communication objects
336
Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst)
0x1602 - RPDO-->Axis A: Cyclic sync velocity mode (csv)
0x1603 - RPDO-->Axis A: Velocity mode (vl)
0x1604 - RPDO-->Axis A: Touch probe (TP)
Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode"
Sub. Name Lenze setting Data type
1 (cst) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (cst) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (cst) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (cst) RPDO-->A: 0x60B2 (Torque: Offset) 0x60B20010 UNSIGNED_32
5 (cst) RPDO-->A: 0x6071 (Target torque) 0x60710010 UNSIGNED_32
6 (cst) RPDO-->A: 0x2946/1 (upper speed limit) 0x29460120 UNSIGNED_32
7 (cst) RPDO-->A: 0x2946/2 (lower speed limit) 0x29460220 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for "Cyclic sync velocity mode"
Sub. Name Lenze setting Data type
1 (csv) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (csv) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (csv) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (csv) RPDO-->A: 0x60B2 (Torque: Offset) 0x60B20010 UNSIGNED_32
5 (csv) RPDO-->A: 0x60FF (Target velocity) 0x60FF0020 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for "Velocity mode"
Sub. Name Lenze setting Data type
1 (vl) RPDO-->A: 0x6040 (Controlword) 0x60400010 UNSIGNED_32
2 (vl) RPDO-->A: 0x2830 (Lenze control word) 0x28300010 UNSIGNED_32
3 (vl) RPDO-->A: 0x6060 (Modes of operation) 0x60600008 UNSIGNED_32
4 (vl) RPDO-->A: 0x6042 (vl target velocity) 0x60420010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for touch probe detection
Sub. Name Lenze setting Data type
1 (TP) RPDO-->A: 0x60B8 (Touch probe function) 0x60B80010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX