Controlword In Homing Mode; Controlword In Cam Mode - Danfoss VLT Series Programming Manual

Servo Drive Parameter Descr...

7.2.1.4 Controlword in Homing Mode

Table 7.13 shows the structure of the Controlword. Table 7.14 defines the values for bits 4 and 8 of the Controlword.
15 10 9
Reserved
See Table 7.2
(0)
MSB
Table 7.13 Controlword in Homing Mode
Bit Value
4 0
1
8 0
1
Table 7.14 Definition of Bits 4 and 8

7.2.1.5 Controlword in CAM Mode

Table 7.15 shows the structure of the Controlword. The rising edge of bit 4 starts the CAM profile activation request.
Table 7.16 defines the values for bits 5, 6, and 9 of the Controlword. It is assumed that the activation request of a CAM is
edge-triggered 0→1, otherwise the axis has no clear point in time when to activate a new CAM profile, or to reactivate a
CAM profile without any content changes.
15 10
Use blend
See Table 7.2
distance
MSB
Table 7.15 Controlword in CAM Mode
Bit Value
5 0
1
6 0
1
9 0
1
Table 7.16 Definition of Bits 5, 6, and 9
MG36D102
Programming Guide
8 7 6
See
Halt Reserved (0)
Table 7.2
Definition
Do not start homing procedure.
Start or continue homing procedure.
Enable bit 4.
Stop axis according to halt option code (see chapter 7.20.7 Parameter 50-47: Halt Option Code (0x605D)).
9 8 7
Reserved See
parameter
(0) Table 7.2
Definition
Currently active CAM profile is finished first (target reached).
Next CAM profile is started immediately.
Control parameter set selection uses the manufacturer-specific bit of the Controlword (bit 15). This is
default behavior as in other modes of operation.
Control parameter set selection is done automatically inside the CAM profile. The manufacturer-specific
bit of the Controlword (bit 15) for selection is ignored by the axis.
Automatically blend to the beginning of the new CAM:
•
Basic CAM: 1st data point
•
Advanced CAM: starting node
Uses value of object 0x380A (see chapter 7.14.11 Parameter: Minimum Blending Distance (0x380A)) as the
minimum length for blending to a new CAM.
Danfoss A/S © 01/2017 All rights reserved.
4
Homing operation
start
6 5
Control
Change CAM
New CAM
immediately
source
3
See Table 7.2
4 3
See Table 7.2
0
LSB
7 7
0
LSB
235