Danfoss VLT series

ms Manufacturer-specic
r Reserved
oms Operation mode specic
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 Denition of Controlword Bits
Bit Value Denition
11 0 Digital CAM switching functionality must be disabled (see chapter 2.5.1 Digital CAM Switch).
1 Digital CAM switching functionality must be enabled (see chapter 2.5.1 Digital CAM Switch).
12 0 Digital output is cleared.
1 Digital output is set.
15 0 Control parameter set 1 is used (objects 0x2012 and 0x2013; see chapter 2.3.6 Control Loops).
1 Control parameter set 2 is used (objects 0x2014 and 0x2015; see chapter 2.3.6 Control Loops).
Table 7.4 Manufacturer-specic Bits in Controlword
Command
Controlword bits
Transitions
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0
X
1)
1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on and enable operation 0 1 1 1 1
3, 4
2)
Disable voltage 0
X
1)
X
1)
0
X
1)
7, 9, 10, 12
Quick stop 0
X
1)
0 1
X
1)
7, 10, 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset
0→1
X
1)
X
1)
X
1)
X
1)
15
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 Prole Position Mode
Table 7.6 shows the structure of the Controlword. Table 7.7 denes the values for bit 4, 5 and 9 of the Controlword. Table 7.8
denes 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 dene the behavior.
15
10 9 8 7 6 5 4 3 0
See Table 7.2
Change on
setpoint
Halt See Table 7.2 Abs/rel
Change set
immediately
New
setpoint
See
Table 7.2
MSB LSB
Table 7.6 Controlword for Prole Position Mode
Servo Drive Parameter Descr... Programming Guide
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