Lenze i700 - 0 X1615 - RPDO->Axis B: Freely Configurable (User); 0 X1616 - RPDO->Axis B: Torque Limits; 0 X1617 - RPDO -> Axis B: Speed Limits; 0 X1 A00 - Axis A->TPDO: Cyclic Sync Position Mode (Csp)

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 339
11 Appendix
11.3 Communication objects
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0x1615 - RPDO-->Axis B: Freely configurable (user)
0x1616 - RPDO-->Axis B: Torque limits
0x1617 - RPDO --> Axis B: Speed limits
0x1A00 - Axis A-->TPDO: Cyclic sync position mode (csp)
PDO mapping object freely configurable by the user for process data from the controller to the servo inverter i700
Sub. Name Lenze setting Data type
1 (user) RPDO-->B: xxxx freely configurable object 1 0x00000000 UNSIGNED_32
2 (user) RPDO-->B: xxxx freely configurable object 2 0x00000000 UNSIGNED_32
3 (user) RPDO-->B: xxxx freely configurable object 3 0x00000000 UNSIGNED_32
4 (user) RPDO-->B: xxxx freely configurable object 4 0x00000000 UNSIGNED_32
5 (user) RPDO-->B: xxxx freely configurable object 5 0x00000000 UNSIGNED_32
6 (user) RPDO-->B: xxxx freely configurable object 6 0x00000000 UNSIGNED_32
7 (user) RPDO-->B: xxxx freely configurable object 7 0x00000000 UNSIGNED_32
8 (user) RPDO-->B: 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-->B: 0x68E0 (Positive torque limit value) 0x68E00010 UNSIGNED_32
2 (torque) RPDO-->B: 0x68E1 (Negative torque limit value) 0x68E10010 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Sub. Name Lenze setting Data type
1 (Speed) RPDO-->B: 0x3146/1 (upper speed limit) 826671392 UNSIGNED_32
2 (Speed) RPDO-->B: 0x3146/2 (Lower speed limit) 826671648 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) A-->TPDO: 0x6041 (Statusword) 0x60410010 UNSIGNED_32
2 (csp) A-->TPDO: 0x2831 (Lenze status word) 0x28310010 UNSIGNED_32
3 (csp) A-->TPDO: 0x6061 (Modes of operation display) 0x60610008 UNSIGNED_32
4 (csp) A-->TPDO: 0x603F (Error code) 0x603F0010 UNSIGNED_32
5 (csp) A-->TPDO: 0x606C (Velocity actual value) 0x606C0020 UNSIGNED_32
6 (csp) A-->TPDO: 0x6077 (Torque actual value) 0x60770010 UNSIGNED_32
7 (csp) A-->TPDO: 0x6064 (Position actual value) 0x60640020 UNSIGNED_32
8 (csp) A-->TPDO: 0x60F4 (Following error actual value) 0x60F40020 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX