Servo Drive Parameter Description; Overview; Controlword Object; Parameter 16-00 Controlword (0X6040) - Danfoss VLT Series Programming Manual

Servo Drive Parameter Descr...

7 Servo Drive Parameter Description

7.1 Overview

Parameters are organized in various parameter groups for easy selection of correct parameters.

7.2 Controlword Object

7.2.1 Parameter 16-00 Controlword (0x6040)

This object indicates the received command controlling the state machine. It is structured as defined in Table 7.2. The
commands are coded as given in Table 7.5.
Bits 0, 1, 2, 3, and 7 are supported to control the DS402 state machine (see chapter 2.3.1 State Machine). Bits 4, 5, 6, and 9
are supported according to the mode of operation. The descriptions of these bits are found in the modes of operation (see
chapter 7.2.1.1 Controlword in Profile Position Mode to chapter 7.2.1.9 Controlword in Cyclic Synchronous Velocity Mode).
7 7
For details about the Halt bit, refer to the corresponding descriptions for the different modes of operation. Halt does not
necessarily have to reach zero velocity if the Halt bit has been reset before reaching speed zero.
The manufacturer-specific bits 11 (dcs) and 12 (do) are processed according to the configuration of object Digital Output
Configuration (0x2FFF). If the configuration is set to 2: Control over Controlword, then only bit 12 (do) is processed. If the
configuration is set to 3: Control over Digital CAM Switch, then only bit 11 (dcs) is processed. Otherwise, bits 11 and 12 are
not processed. For more information, see chapter 7.21.5 Parameter 52-05: Digital Output Configuration (0x2FFF).
Attribute
Index
LCP parameter number
Name
Object code
Data type
Sub-index
Access
PDO mapping
Value range
Default value
Table 7.1 0x6040: Controlword
15 14
cs –
MSB
Table 7.2 0x6040: Controlword
232
VLT
13 12 11 10
ms
r
– do dcs
Danfoss A/S © 01/2017 All rights reserved.
® ®
Integrated Servo Drive ISD
Value
0x6040
16-00
Controlword
Var
UNSIGNED16
0x00
Read/write
Optional
See tables in this chapter.
–
9 8 7
oms h fr
510 System
6 5 4 3
oms eo qs
2 1 0
ev so
LSB
MG36D102