Initialization
Homing (74.04 bit 5)
not Enable (74.04 bit 0)
Standstill
Done
Homing
Gear in (74.04 bit 12)
Velocity (74.04 bit 6)
Discrete
Velocity (74.04 bit 6)
1)
Synchronized
Stopping
Reset (74.04 bit 1)
Error stop
Gear in (74.04 bit 12)
1)
Continuous
Disabled
Done
Error
[from any state]
Stop (74.04 bit 13)
[not from:
Initialization,
Disabled,
Error stop]
1)
Halt (74.04 bit 14),
Absolute (74.04 bit 8),
Relative (74.04 bit 7),
Superimposed (74.05 bit 1),
Additive (74.05 bit 0)
not Enable (74.04 bit 0)
Enable (74.04 bit 0) AND 74.80 = Halt
Enable (74.04 bit 0) AND 74.80 = Last speed
Done
Velocity (74.04 bit 6)Done
1)
Power ON
Mains OFF
Gear in (74.04 bit 12)
Settings and diagnostics
Parameters: 19.1 Actual operation mode (page 238) and 74.10 Position control actual
status (page 443).
Position control commands
Positioning movements and operations are activated with position control
commands. There are two 16-bit control words with freely configurable bits, 74.7
and 74.8. Parameters 74.20…74.50 can be used to assign the command source
either to the user control words or to any other binary source such as a digital
input.
The resulting command status can be seen in parameters 74.4 and 74.5. The status
of position control is displayed by 74.1 and 74.2.
The position control commands in parameter group 74 are not active when a local
position control word (75.61 or 75.62) has been enabled by parameter 75.60.
￭
Enable
Before any movement can be commanded, the drive must be in enabled (ie.
operational) state. The enable signal is level-type. When the signal is removed, any
movement is stopped by ramping. It is possible to use the enable signal to also
control the start signal of the drive by setting parameter 20.3 to Position CW enable
and parameter 20.1 to In1 Start.
34 Position control program features
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