Lenze 931K - Manual (Page 100)

Device control
State diagram
Status word
8
l
100 KHB 13.0002−EN 4.1
)
Note!
The bits of the status word are not buffered. They indicate the current
controller state.
In addition to the controller state, the status word indicates various events, i.e. each bit is
assigned with a certain event (e.g. following error).
Some bits have different meanings dependent on the operating mode
(modes_of_operation):
Operation
mode Bit 10 Bit 12 Bit 13
Profile
position
mode l target_reached
The bit is set if the current target
position is reached and the current
position (index
position_actual_value) is within the
parameterised position window
(index 6067
h
position_window).
It is also set if the drive comes to
standstill with the stop bit being set.
The bit is deleted if a new target is
selected.
l set_point_acknowledge
This bit is set if the drive controller
has detected that bit 4 of the control
word (new_set_point) is set.
It is deleted again after bit 4 of the
control word (new_set_point) has
been set to zero.
l following_error
This bit is set if the current actual
position (index
position_actual_value) deviates that
much from the set position (index
position_demand_value) that the
deviation is out of the parameterised
tolerance window (indexes
following_error_window,
following_error_time_out).
Profile
velocity
mode l target_reached
The bit is set if the actual speed
(index 606C
h
velocity_actual_value)
of the drive is within the tolerance
window. This tolerance window can
be set via SDC.
l speed_0
This bit is set if the current actual
speed (index 606C
h
velocity_actual_value) of the drive is
within the corresponding tolerance
window.
l Reserved
Homing
mode l Reserved l homing_attained
This bit is set if the homing run has
been completed successfully.
l homing_error
Interpolated
position
mode l Reserved l ip_mode_active
This bit indicates that interpolation
is active and the interpolation data
records are being evaluated. The bit
is set if this has been requested by
bit 4 of the control word
(enable_ip_mode).
l Reserved