Lenze 931K - Manual (Page 97)

Device control
State diagram
Control word
8
l
97 KHB 13.0002−EN 4.1
Below the remaining bits of the control word are explained. Some bits have different
meanings dependent on the operating mode (modes_of_operation):
Operation
mode Bit 4 Bit 5 Bit 6 Bit 8
Profile
position
mode l new_set_point
A rising edge indicates to
the drive controller that a
new travel task will be
transferred.
l change_set_immediately
If this bit is not set, a new
travel task will not be
processed before an already
running task has been
completed. If the bit is set,
the running positioning task
will be aborted immediately
and replaced by the new
travel task.
l absolute/relative
If bit 6 is set, this means
"absolute positioning".
If bit 6 is not set, this
means "relative
positioning".
If the bit is set, the drive
controller refers the target
position (target_position)
of the current travel task
to the set position
(position_demand_value)
of the position controller.
l stop
If the bit is set, the running
positioning task is aborted.
For braking, the
profile_deceleration (index
6084
h
) is used. After the
process has been
completed, bit 10
(target_reached) is set in
the status word (index
6041
h
). Deleting of the bit
has no effect.
Profile
velocity
mode l Reserved l Reserved l Reserved l stop
If the bit is set, the speed is
reduced to zero. For
braking, the
profile_deceleration (index
6084
h
) is used. Deleting of
the bit results in the drive
controller being
accelerated again.
Profile
torque mode l Reserved l Reserved l Reserved l stop
If the bit is set, the torque
is set to zero. Deleting of
the bit results in the drive
controller being
accelerated again.
Homing
mode l start_homing
_operation
A rising edge starts the
parameterised homing
run. A falling edge aborts
the homing run being
performed.
l Reserved l Reserved l stop
If the bit is set, the homing
run being performed is
aborted. Deleting of the bit
has no effect.
Interpolated
position
mode l enable_ip_mode
This bit has to be set if the
interpolation data records
are to be evaluated. It is
acknowledged by bit 12
(ip_mode_active) in the
status word.
l Reserved l Reserved l Reserved