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 dened 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 Prole Position Mode to chapter 7.2.1.9 Controlword in Cyclic Synchronous Velocity Mode).
For details about the Halt bit, refer to the corresponding descriptions for the dierent 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-specic bits 11 (dcs) and 12 (do) are processed according to the conguration of object Digital Output
Conguration (0x2FFF). If the conguration is set to 2: Control over Controlword, then only bit 12 (do) is processed. If the
conguration 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 Conguration (0x2FFF).
Attribute Value
Index 0x6040
LCP parameter number 16-00
Name Controlword
Object code Var
Data type UNSIGNED16
Sub-index 0x00
Access Read/write
PDO mapping Optional
Value range See tables in this chapter.
Default value –
Table 7.1 0x6040: Controlword
15
14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms
r oms h fr oms eo qs ev so
cs – – do dcs
MSB LSB
Table 7.2 0x6040: Controlword
Servo Drive Parameter Descr...
VLT
®
Integrated Servo Drive ISD
®
510 System
232 Danfoss A/S © 01/2017 All rights reserved. MG36D102
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