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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Short overview of the CiA402 objects
20 L EDS94TA11010xxxx EN 1.2 - 03/2010
0x6097 Acceleration factor UNSIGNED_32 ARRAY
1: Numerator UNSIGNED_32
2: Divisor UNSIGNED_32
Position control functions
0x6062 Position demand value unit INTEGER_32 VAR
0x6063 Position actual value intern (increments) INTEGER_32 VAR
0x6064 Position actual value unit INTEGER_32 VAR
0x6065
Following error window UNSIGNED_32 VAR
0x6066
Following error time out UNSIGNED_32 VAR
0x6067
Position window UNSIGNED_32 VAR
0x6068
Position window time UNSIGNED_32 VAR
0x60F4 Following error actual value INTEGER_32 VAR
0x60FA Control effort INTEGER_32 VAR
0x60FB
Position control parameter set UNSIGNED_32 RECORD
1: Load home position INTEGER_32
2: Brake control UNSIGNED_8
3: Brake torque add INTEGER_32
4: Following error reaction UNSIGNED_16
5: Safe IO state UNSIGNED_8
6: Safety module state UNSIGNED_16
7: Homing stop mode UNSIGNED_32
0x60FC Position demand value* INTEGER_32 VAR
Homing mode
0x607C
Home position INTEGER_32 VAR
0x6098
Homing method INTEGER_8 VAR
0x6099
Homing speeds UNSIGNED_32 ARRAY
1: Speed during search for switch UNSIGNED_32
2: Speed during search for zero UNSIGNED_32
0x609A
Homing acceleration UNSIGNED_32 ARRAY
1: Acc. during search for switch UNSIGNED_32
2: Acc. during search for zero UNSIGNED_32
Interpolated position mode
0x60C0
Interpolation sub mode select INTEGER_16 VAR
0x60C1
Interpolation data record INTEGER_32 ARRAY
1: X1 UNSIGNED_32
0x60C2
Interpolation time period UNSIGNED_32 RECORD
1: ip time units UNSIGNED_32
2: ip time index UNSIGNED_32
0x60C3
Interpolation sync definition UNSIGNED_8 RECORD
1: Synchronize on group UNSIGNED_32
2: ip sync every n event UNSIGNED_32
Index Name
(Subindex: designation)
Data type Object type
Grayed out = read access only
- L-force Runtime Software 1
- Contents 3
- 1 About this documentation 8
- About this documentation 9
- Conventions used 9
- 1.1 Conventions used 9
- Danger! 10
- 2 Short description 11
- DS402 State machine 14
- 16
- Drive initialisation 25
- Code: _______ 31
- Index 31
- 3.5.4 Object attributes 33
- Common entries 35
- 3.6.2 Motor data 40
- Device control 42
- Power on 47
- X0XX0000 55
- X0XX1000 59
- Parameter Lenze setting 61
- Factor group 65
- 3.9.1 Input and output data 74
- Input data 74
- Output data 74
- ( 82) 79
- Short overview 82
- ( 81) 83
- ( 80) 83
- CiA402 Homing method -2 84
- CiA402 Homing method -1 84
- CiA402 Homing method 01 85
- CiA402 Homing method 02 86
- CiA402 Homing method 03 87
- CiA402 Homing method 04 88
- CiA402 Homing method 05 89
- CiA402 Homing method 06 90
- CiA402 Homing method 07 91
- CiA402 Homing method 08 92
- CiA402 Homing method 09 93
- CiA402 Homing method 10 95
- CiA402 Homing method 11 96
- CiA402 Homing method 12 97
- CiA402 Homing method 13 99
- CiA402 Homing method 14 100
- Touch probe/zero pulse 100
- Reference switch 100
- CiA402 Homing method 15 101
- CiA402 Homing method 16 101
- CiA402 Homing method 17 102
- CiA402 Homing method 18 102
- CiA402 Homing method 19 103
- Homing switch 103
- CiA402 Homing method 20 104
- CiA402 Homing method 21 105
- CiA402 Homing method 22 106
- CiA402 Homing method 23 107
- CiA402 Homing method 24 108
- CiA02 homing method 25 109
- CiA402 Homing method 26 110
- CiA402 Homing method 27 111
- CiA402 Homing method 28 112
- CiA402 Homing method 29 113
- CiA402 Homing method 30 114
- CiA402 Homing method 31 115
- CiA402 Homing method 32 115
- CiA402 Homing method 33 115
- CiA402 Homing method 34 116
- CiA402 homing method 35 116
- Homing mode 118
- Grayed out = read access only 119
- Position control function 121
- Brake logic 128
- Monitoring 128
- UNSIGNED_32 VAR 131
- INTEGER_32 VAR 131
- Interpolated position mode 133
- 3.11.3 Signal flow 137
- Disable voltage 140
- Shutdown 140
- Quick stop 140
- Value Unit 141
- Data type: INTEGER_32 144
- 3.12.3 Signal flow 145
- 3.13.2 Object description 150
- 0x60FF - Target velocity 151
- Speed follower 152
- 3.14.2 Object description 157
- Power stage parameters 161
- Display area 161
- Torque follower 162
- Touch probe 167
- ( 182) 174
- ( 181) 174
- 3.21.3 CountMultiError 183
- 3.21.4 CountSingleError 183
- 3.21.5 DetectErrorLimit 183
- 3.21.6 DetectMultiError 184
- 3.21.7 DetectSingleError 184
- 3.21.8 DetectUnderVoltage 185
- 3.21.9 L_DevApplErr1 185
- 4 Step-by-step commissioning 186
- ( 188) 187
- Parameter Object Information 190
- 5 Parameter reference 191
- Cxxxxx 193
- Description 193
- Parameter 195
- Data type: _______ 195
- Index: _______ 195
- Parameter reference 199
- Parameter list 199
- Parameter list 200
- Parameter list 201
- Parameter list 202
- Parameter list 203
- Parameter list 204
- Parameter list 205
- Parameter list 206
- Parameter list 207
- Parameter list 208
- Parameter list 209
- Parameter list 210
- Parameter list 211
- Parameter list 212
- Parameter list 213
- Parameter list 214
- Parameter list 215
- Parameter list 216
- Parameter list 217
- Parameter list 218
- Parameter list 219
- Attribute table 221
- )(('%$ 230
- 109 87654321 232
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