Lenze i700 - 0 X1 A11 - Axis B->TPDO: Cyclic Sync Torque Mode (Cst); 0 X1 A12 - Axis B->TPDO: Cyclic Sync Velocity Mode (Csv); 0 X1 A13 - Axis B->TPDO: Velocity Mode (Vl)

11 Appendix
11.3 Communication objects
342
Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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0x1A11 - Axis B-->TPDO: Cyclic sync torque mode (cst)
0x1A12 - Axis B-->TPDO: Cyclic sync velocity mode (csv)
0x1A13 - Axis B-->TPDO: Velocity mode (vl)
Sub. Name Lenze setting Data type
1 (csp) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (csp) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (csp) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (csp) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (csp) B-->TPDO: 0x686C (Velocity actual value) 0x686C0020 UNSIGNED_32
6 (csp) B-->TPDO: 0x6877 (Torque actual value) 0x68770010 UNSIGNED_32
7 (csp) B-->TPDO: 0x6864 (Position actual value) 0x68640020 UNSIGNED_32
8 (csp) B-->TPDO: 0x68F4 (Following error actual value) 0x68F40020 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for "Cyclic sync torque mode"
Sub. Name Lenze setting Data type
1 (cst) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (cst) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (cst) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (cst) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (cst) B-->TPDO: 0x686C (Velocity actual value) 0x686C0020 UNSIGNED_32
6 (cst) B-->TPDO: 0x6877 (Torque actual value) 0x68770010 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) B-->TPDO: 0x6841 (Statusword) 0x68410010 UNSIGNED_32
2 (csv) B-->TPDO: 0x3031 (Lenze status word) 0x30310010 UNSIGNED_32
3 (csv) B-->TPDO: 0x6861 (Modes of operation display) 0x68610008 UNSIGNED_32
4 (csv) B-->TPDO: 0x683F (Error code) 0x683F0010 UNSIGNED_32
5 (csv) B-->TPDO: 0x686C (Velocity actual value) 0x686C0020 UNSIGNED_32
6 (csv) B-->TPDO: 0x6877 (Torque actual value) 0x68770010 UNSIGNED_32
7 (csv) B-->TPDO: 0x6864 (Position actual value) 0x68640020 UNSIGNED_32
 Write access  CINH  OSC  P  RX  TX
Fixed, preconfigured PDO mapping object for "Velocity mode"