Controlword In Profile Position Mode - Danfoss VLT Series Programming Manual

Servo Drive Parameter Descr...
ms Manufacturer-specific
r Reserved
oms Operation mode specific
h Halt
fr Fault reset
eo Enable operation
qs Quick stop
ev Enable voltage
so Switch on
cs Control set selection
do Set/reset the digital output
dcs Digital CAM switching functionality enabled/disabled
Table 7.3 Definition of Controlword Bits
Bit Value
11 0
1
12 0
1
15 0
1
Table 7.4 Manufacturer-specific Bits in Controlword
Command
Shutdown
Switch on
Switch on and enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Table 7.5 Command Coding
1) X denotes Don't care.
2) Automatic transition to Enable operation state after executing Switched on state functionality.
NOTICE
See chapter 2.3.1 State Machine for the relevant transitions.

7.2.1.1 Controlword in Profile Position Mode

Table 7.6 shows the structure of the Controlword. Table 7.7 defines the values for bit 4, 5 and 9 of the Controlword. Table 7.8
defines the values for bit 6 and 8 of the Controlword. If no positioning is in progress, the rising edge of bit 4 starts the
positioning of the axis. If positioning is in progress, the values given in Table 7.7 define the behavior.
15 10 9
Change on
See Table 7.2
setpoint
MSB
Table 7.6 Controlword for Profile Position Mode
MG36D102
Programming Guide
Definition
Digital CAM switching functionality must be disabled (see chapter 2.5.1 Digital CAM Switch).
Digital CAM switching functionality must be enabled (see chapter 2.5.1 Digital CAM Switch).
Digital output is cleared.
Digital output is set.
Control parameter set 1 is used (objects 0x2012 and 0x2013; see chapter 2.3.6 Control Loops).
Control parameter set 2 is used (objects 0x2014 and 0x2015; see chapter 2.3.6 Control Loops).
Controlword bits
Bit 7 Bit 3
0
X 1)
0 0
0 1
0 1)
X
0
1)
X
0 0
0 1
0→1 1)
X
8 7
Halt See Table 7.2
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Bit 2 Bit 1 Bit 0
1 1 0
1 1 1
1 1 1
1) 0 1)
X X
0 1
1)
X
1 1 1
1 1 1
1) 1) 1)
X X X
6
Change set
Abs/rel
immediately
Transitions
2, 6, 8
3
3, 4 2)
7, 9, 10, 12
7, 10, 11
5
4, 16
15
5 4 3
New See
setpoint Table 7.2
LSB
233
7 7
0