Lenze 931M-931W - Manual (Page 64)

Commissioning
Speed control
Running through the state machine
6

64 KHB 13.0003-EN 2.0
6.2.3 Running through the state machine
After having defined all control parameters required, the drive can be commissioned via
thestatus machine.First,a speed setpointisdefined andsentoncevia SDOaccess andonce
via the RPDO. Then, the status machine is traversed.
No. Description Identifier Control
field
Command
code
Index Subindex Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Selecting the speed setpoint via
SDO access
The speed setpoint (target_
velocity) is set to 1000 rpm.
601 8 23 FF 60 00 E8 03 00 00
2 Selecting the speed setpoint via
RPDO
The speed setpoint is set to
1000 rpm via the RPDO. For
speed selection, you can either
use the method described under
1 or 2.
201 4 E8 03 00 00 00 00 00 00
3 Status check (reading) 601 4 40 41 60 00 00 00 00 00
4 Control word: Error
acknowledgement
If an error has occurred, it can be
reset with the fault reset
command after the cause of the
error has been removed. If no
error has occurred, you can
directly continue with 6.
601 6 2B 40 60 00 08 80 00 00
5 Status check (reading) 601 4 40 41 60 00 00 00 00 00
6 Control word: Shut down
With the shut down command,
the status is changed to ready
to switch on.
601 6 2B 40 60 00 06 80 00 00
7 Status check (reading) 601 4 40 41 60 00 00 00 00 00
8 Control word: Switch on
With the switch on command,
the status is changed to
switched on.
601 6 2B 40 60 00 07 80 00 00
9 Status check (reading) 601 4 40 41 60 00 00 00 00 00
10 Control word: Enable operation
With the enable operation
command, the status is changed
to operation enable.
Now, the motor is energised and
the setpoint is approached.
601 6 2B 40 60 00 0F 80 00 00
11 Status check (reading) 601 4 40 41 60 00 00 00 00 00
12 Control operation
During the control operation,
further changes (e.g. setpoint)
can be made.
— — — — — — — — — —
13 Control word: Disable voltage
With this command, the drive is
switched off and set to the
status switch on disabled.
601 6 2B 40 60 00 00 80 00 00
Tab. 5 Commissioning the speed control via the status machine