Lenze 931K - Manual (Page 62)

Commissioning
Speed control
Running through the state machine
6
l
62 KHB 13.0002−EN 4.1
6.2.4 Running through the state machine
After all parameters required for the cascade control (current and speed control) have been
defined, the drive can be commissioned via the state machine. First a speed setpoint is
defined and sent once via an SDO access and once via the RPDO. Then the run through the
state machine follows.
No. Description Identi
fier
Control
field
Comma
nd code
Index Subin
dex
Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Selection of 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 Selection of the speed setpoint via RPDO
The speed setpoint is set to 1000 rpm
via the RPDO. For speed selection either
method 1 or method 2 can be used. 201 4 E8 03 00 00 00 00 00 00
3 State query (read) 601 4 40 41 60 00 00 00 00 00
4 Control word: acknowledge error
If an error has occurred, it can be reset
with the ’fault reset’ command after the
error cause has been eliminated. If there
is no error, continue with step 6. 601 6 2B 40 60 00 08 00 00 00
5 State query (read) 601 4 40 41 60 00 00 00 00 00
6 Control word: shut down
With the ’shut down’ command, the
state is adapted to ready to switch on. 601 6 2B 40 60 00 06 00 00 00
7 State query (read) 601 4 40 41 60 00 00 00 00 00
8 Control word: switch on
With the ’switch on’ command, the
state is adapted to switched on. 601 6 2B 40 60 00 07 00 00 00
9 State query (read) 601 4 40 41 60 00 00 00 00 00
10 Control word: enable operation
With the ’enable operation’ command,
the state is adapted to operation enable.
Voltage is now applied to the motor and
the setpoint is being approached. 601 6 2B 40 60 00 0F 00 00 00
11 State query (read) 601 4 40 41 60 00 00 00 00 00
12 Operation of the control
While the control is in operation, further
changes (e.g. of the setpoint) can be
made. Ċ Ċ Ċ Ċ Ċ Ċ Ċ Ċ Ċ Ċ
13 Control word: disable voltage
This command switches off the drive
and sets it to the switch on disabled
state. 601 6 2B 40 60 00 00 00 00 00
Tab. 6 Commissioning of speed control via the state machine