Lenze i700 - 0 X1611 - RPDO->Axis B: Cyclic Sync Torque Mode (Cst); 0 X1612 - RPDO->Axis B: Cyclic Sync Velocity Mode (Csv); 0 X1613 - RPDO->Axis B: Velocity Mode (Vl); 0 X1614 - RPDO->Axis B: Touch Probe (TP)

11 Appendix
11.3 Communication objects
338
Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst)
0x1612 - RPDO-->Axis B: Cyclic sync velocity mode (csv)
0x1613 - RPDO-->Axis B: Velocity mode (vl)
0x1614 - RPDO-->Axis B: Touch probe (TP)
Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode"
Sub. Name Lenze setting Data type
1 (cst) RPDO-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (cst) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (cst) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (cst) RPDO-->B: 0x68B2 (Torque: Offset) 0x68B20010 UNSIGNED_32
5 (cst) RPDO-->B: 0x6871 (Target torque) 0x68710010 UNSIGNED_32
6 (cst) RPDO-->B: 0x3146/1 upper speed limit 0x31460120 UNSIGNED_32
7 (cst) RPDO-->B: 0x3146/2 lower speed limit 0x31460220 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-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (csv) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (csv) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (csv) RPDO-->B: 0x68B2 (Torque: Offset) 0x68B20010 UNSIGNED_32
5 (csv) RPDO-->B: 0x68FF (Target velocity) 0x68FF0020 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-->B: 0x6840 (Controlword) 0x68400010 UNSIGNED_32
2 (vl) RPDO-->B: 0x3030 (Lenze control word) 0x30300010 UNSIGNED_32
3 (vl) RPDO-->B: 0x6860 (Modes of operation) 0x68600008 UNSIGNED_32
4 (vl) RPDO-->B: 0x6842 (vl target velocity) 0x68420010 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-->B: 0x68B8 (Touch probe function) 0x68B80010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX