Lenze i950

10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)"
This operang mode provides a fast velocity follower with torque/feed force feedforward con-
tr
ol.
Subfuncons of the operang mode
•
Interpolaon between communicaon cycle and control cycle
•
Speed control
•
Limitaon of the motor speed
•
Update of the actual values for posion, velocity and torque
10.3.1 Default mapping
The default mapping for the cyclic sync velocity mode (csv)" is dened in the following param-
eters.
Parameter Designaon Data type
0x1602 RPDO-->axis: cyclic sync velocity mode (csv) RECORD
0x1606 RPDO-->axis: torque limit RECORD
0x1A02 Axis-->TPDO: cyclic sync velocity mode (csv) RECORD
Data received from the Controller (RPDO)
Parameter Designaon Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operang mode:
selecon INTEGER_8
0x60B2 Torque: oset INTEGER_16
0x60FF Velocity: setpoint velocity INTEGER_32
0x60E0 Torque: posive limit value UNSIGNED_16
0x60E1 Torque: negave limit value UNSIGNED_16
Data sent to the Controller (TPDO)
Parameter Designaon Data type
0x6041 CiA402 status word UNSIGNED_16
0x2831 Lenze status word UNSIGNED_16
0x6061 Operang mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x606C Velocity: actual velocity UNSIGNED_16
0x6077 Torque: actual torque INTEGER_16
0x6064 Posion: actual posion INTEGER_32
Congure speed control
Operang mode "CiA 402 Cyclic sync velocity mode (csv)"
De
fault mapping
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