Rd - Torque Current; Th - Present Control Mode; Output Words - (Master → Slave); St - Control Word - WEG SCA06 User Manual

rd
6.1.3 3 – Torque Current
Word that indicates the torque current, proportional to the equipment current that generates torque. The indication
is done in ampere (A), with one-decimal place resolution. Example: If the current value is 4.7A, the value read via
network will be 47. Negative values represent negative torque current.
th
6.1.4 4 – Present Control Mode
It indicates which control mode is selected for the equipment:
Bit
15 14
Function
Bit
Bit 0 ... 3
Control Mode
Bit 4 ... 15
OUTPUT WORDS – (MASTER → SLAVE)
6.2
st
6.2.1 1 – Control Word
Word that allows sending command to the equipment. Only used by the SCA06 if the operating mode is set for
Ethernet (P0202 = 6).
Bit
15 14
Function
Bit
Bit 0 ... 1
Bit 2
Activate STOP
Bit 3
Enable
Bit 4 ... 6
Bit 7
Fault Reset
Bit 8 ... 15
13 12 11 10
Table 6.2: Functions of the bits for the control mode of the SCA06
It defines present control mode of the equipment:
0: Torque mode.
1: Velocity mode.
3: Position mode.
Reserved
13 12 11 10
Table 6.3: Functions of the bits for specific control word of the SCA06
Reserved
0: No STOP function.
1: Activates STOP function.
0: Disable drive.
1: Enable Drive.
Reserved
0: No function.
0 → 1: Resets the equipment faults.
Reserved
9 8 7 6
Value/Description
9 8 7 6
Value/Description
I/O Words with Specific Function
5 4 3 2
5 4 3 2
1 0
1 0
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