Lenze 931M-931W - Manual (Page 69)

Commissioning
Position control
Running through the state machine
6

69 KHB 13.0003-EN 2.0
As inall otheroperating modes,a positionchangeis madebychanging thestatus machine.
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 position setpoint
via SDO access
The position setpoint (target_
position) is set to 1000 rev. (1
rev. = 4096 increments).
601 8 23 7A 60 00 00 10 00 00
2 Status check (reading) 601 4 40 41 60 00 00 00 00 00
3 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 4.
601 6 2B 40 60 00 08 80 00 00
4 Status check (reading) 601 4 40 41 60 00 00 00 00 00
5 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
6 Status check (reading) 601 4 40 41 60 00 00 00 00 00
7 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
8 Status check (reading) 601 4 40 41 60 00 00 00 00 00
9 Control word: Enable operation
With the enable operation
command, the status is changed
to Operation_Enable.
Now, the motor is energised.
The target is not approached
yet.
601 6 2B 40 60 00 0F 80 00 00
10 Status check (reading) 601 4 40 41 60 00 00 00 00 00
11 Control word: Enable operation
and new setpoint
With the enable operation and
new setpoint command, the
status is changed to
Operation_Enable. Now, the
motor is energised and the
setpoint is approached.
601 6 2B 40 60 00 1F 80 00 00
12 Status check (reading) 601 4 40 41 60 00 00 00 00 00
13 Control operation
During operation, further
changes (e.g. setpoint) can be
made.
— — — — — — — — — —
14 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. 9 Commissioning the position control via the status machine