Lenze 931K - Manual (Page 67)

Commissioning
Position control
Running through the state machine
6
l
67 KHB 13.0002−EN 4.1
A change in the position is performed – as for all other operating modes as well – via a
change of the state machine. This is described below:
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 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 00 E8 03
2 State query (read) 601 4 40 41 60 00 00 00 00 00
3 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 4. 601 6 2B 40 60 00 08 00 00 00
4 State query (read) 601 4 40 41 60 00 00 00 00 00
5 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
6 State query (read) 601 4 40 41 60 00 00 00 00 00
7 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
8 State query (read) 601 4 40 41 60 00 00 00 00 00
9 Control word: enable operation
With the enable operation command,
the state is adapted to
Operation_Enable.
Voltage is now applied to the motor. The
target is not yet being approached. 601 6 2B 40 60 00 0F 00 00 00
10 State query (read) 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 commands, 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 1F 00 00 00
12 State query (read) 601 4 40 41 60 00 00 00 00 00
13 Operation of the control
During operation further changes (e.g. of
the setpoint) can be made. Ċ Ċ Ċ Ċ Ċ Ċ Ċ Ċ Ċ Ċ
14 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. 10 Commissioning of position control via the state machine