Lenze i700 - 0 X1605 - RPDO->Axis A: Freely Configurable (User); 0 X1606 - RPDO->Axis A: Torque Limits; 0 X1607 - RPDO -> Axis A: Speed Limits; 0 X1610 - RPDO->Axis B: Cyclic Sync Position Mode (Csp)

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 337
11 Appendix
11.3 Communication objects
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0x1605 - RPDO-->Axis A: Freely configurable (user)
0x1606 - RPDO-->Axis A: Torque limits
0x1607 - RPDO --> Axis A: Speed Limits
0x1610 - RPDO-->Axis B: Cyclic sync position mode (csp)
PDO mapping object freely configurable by the user for process data from the controller to the servo inverter
Sub. Name Lenze setting Data type
1 (user) RPDO-->A: xxxx freely configurable object 1 0x00000000 UNSIGNED_32
2 (user) RPDO-->A: xxxx freely configurable object 2 0x00000000 UNSIGNED_32
3 (user) RPDO-->A: xxxx freely configurable object 3 0x00000000 UNSIGNED_32
4 (user) RPDO-->A: xxxx freely configurable object 4 0x00000000 UNSIGNED_32
5 (user) RPDO-->A: xxxx freely configurable object 5 0x00000000 UNSIGNED_32
6 (user) RPDO-->A: xxxx freely configurable object 6 0x00000000 UNSIGNED_32
7 (user) RPDO-->A: xxxx freely configurable object 7 0x00000000 UNSIGNED_32
8 (user) RPDO-->A: xxxx freely configurable object 8 0x00000000 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for torque limits
Sub. Name Lenze setting Data type
1 (torque) RPDO-->A: 0x60E0 (Positive torque limit value) 0x60E00010 UNSIGNED_32
2 (torque) RPDO-->A: 0x60E1 (Negative torque limit value) 0x60E10010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Sub. Name Lenze setting Data type
1 (Speed) RPDO-->A: 0x2946/1 (upper speed limit) 692453664 UNSIGNED_32
2 (Speed) RPDO-->A: 0x2946/2 Lower speed limit 692453920 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for "Cyclic sync position mode"
Sub. Name Lenze setting Data type
1 (csp) RPDO-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (csp) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (csp) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (csp) RPDO-->B: 0x68B2 (Torque: Offset) 0x68B20010 UNSIGNED_32
5 (csp) RPDO-->B: 0x687A (Target position) 0x687A0020 UNSIGNED_32
6 (csp) RPDO-->B: 0x68B1 (Velocity offset) 0x68B10020 UNSIGNED_32
7 (csp) RPDO-->B: 0x3102 speed controller - load starting value 0x31020010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX