Lenze 931M-931W - Manual (Page 102)

Device control
State diagram
Control word
8

102 KHB 13.0003-EN 2.0
The remaining bits of the control word are explained below. Depending on the operating
mode (modes_of_operation), the meaning of some bits changes:
Operating
mode
Bit 4 Bit 5 Bit 6 Bit 8 Bit 14
Profile
position
mode
z new_set_point
A rising edge
indicates that a new
driving command is
to be accepted.
z change_set_
immediately
When this bit is not
set, processing of the
current driving
command, if any, is
completed before
processing of the new
driving command is
started when a new
driving command is
received. When this
bit is set, the current
positioning is
cancelled
immediately and the
new driving
command is started.
z relative
When this bit is set,
the controller refers
the target position
(target_position) of
the current driving
command to the
setpoint position
(position_demand_
value) of the position
controller.
z stop
When this bit is set,
the current
positioning is
stopped. The
controller brakes with
the profile_
deceleration. After
braking has been
completed, bit 10
target_reached is set
in the status word
(index 6041
h
).
Deleting the bit has
no effects.
z wait_for_sync
When this bit is set,
the positioning is
started with an active
edge at the
synchronisation
input.
Profile
velocity
mode
z reserved z reserved z reserved z stop
When this bit is set,
the speed is reduced
to zero. The controller
brakes with the
profile_deceleration.
When the bit is
deleted, the
controller starts
accelerating again.
z wait_for_sync
When this bit is set,
the setpoint speed of
the current driving
program is
approached with an
active edge at the
synchronisation input
and the speed ramp is
started.
Profile
torque
mode
z
reserved
z
reserved
z
reserved
z
stop
When this bit is set,
the torque is reduced
to zero by using the
torque_slope. When
the bit is deleted, the
controller starts
accelerating again.
z
wait_for_sync
When this bit is set,
the setpoint torque of
the current driving
program is
approached with an
active edge at the
synchronisation input
and the acceleration
ramp is started.
Homing
mode
z start_homing
_operation
A rising edge starts
the parameterised
homing process. A
falling edge cancels
the current homing
process.
z reserved z reserved z stop
When this bit is set,
the current homing
process is cancelled.
Deleting the bit has
no effects.
z reserved