Lenze ECSCPxxx - Manual (Page 109)

Commissioning
Basic terms of positioning
Device structure and interfaces to the higher−level control
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109 EDBCSXP064 EN 8.0
The following control interfaces are available for the controller under code C4010:
ƒ Automation interface (AIF) X1
– 4 process data words (in conjunction with the EMF2192IB EtherCAT
communication module, sync−controlled via the terminal X6/DI1)
ƒ MotionBus (CAN) connection X4
– CAN1 (process data object 1, PDO1, sync−controlled)
– CAN3 (process data object 3, PDO3, cyclic)
ƒ System bus (CANaux) connection X14
– CANaux1 (process data object 1, PDO1, sync−controlled)
– CANaux2 (process data object 2, PDO2, cyclic)
ƒ Control via codes C4040, C4041, C4042 through a parameter data channel, e.g. AIF,
CAN, CAN−AUX, LECOM (for commissioning and test purposes)
The interface between the control and the ECSxP axis module is mainly determined by the
control word (Ctrl1) and the two status words (Stat1) and (Stat2). They contain all control
and status bits required for controlling the process.
The most important control bits from the control: (
¶ 158):
Bit Designation Function
3 Quick stop (QSP) Quick stop
4 PNoSet_1 Selection of the positioning profile (binary coded)
5 PNoSet_2
6 PNoSet_4
7 PNoSet_8
8 ProfEnable Start of the selected positioning profile
9 CINH Controller inhibit
11 TripReset Reset fault message
12 JogCCW Manual jog (inching mode)
13 JogCW
The most important status bits ("Stat1") to the control (
¶ 161):
Bit Designation Function
6 PNoAct_1 Feedback of the currently active positioning profile (binary coded)
7 PNoAct_2
8 PNoAct_4
9 PNoAct_8
13 HomePosAvailable Home position known
14 InTarget Positioning target reached
15 DwellTime The dwell time has expired after profile generator setpoint has reached the
target position.