Danfoss VLT series Programming Guide

7.2.1.4 Controlword in Homing Mode
Table 7.13 shows the structure of the Controlword. Table 7.14 denes the values for bits 4 and 8 of the Controlword.
15 10 9 8 7 6 4 3 0
See Table 7.2
Reserved
(0)
Halt
See
Table 7.2
Reserved (0)
Homing operation
start
See Table 7.2
MSB LSB
Table 7.13 Controlword in Homing Mode
Bit Value Denition
4 0 Do not start homing procedure.
1 Start or continue homing procedure.
8 0 Enable bit 4.
1 Stop axis according to halt option code (see chapter 7.20.7 Parameter 50-47: Halt Option Code (0x605D)).
Table 7.14 Denition 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 prole activation request.
Table 7.16 denes 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
prole, or to reactivate a
CAM prole without any content changes.
15
10 9 8 7 6 5 4 3 0
See Table 7.2
Use blend
distance
Reserved
(0)
See
Table 7.2
Control
parameter
source
Change CAM
immediately
New CAM See Table 7.2
MSB LSB
Table 7.15 Controlword in CAM Mode
Bit Value Denition
5 0 Currently active CAM prole is nished rst (target reached).
1 Next CAM prole is started immediately.
6 0 Control parameter set selection uses the manufacturer-specic bit of the Controlword (bit 15). This is
default behavior as in other modes of operation.
1 Control parameter set selection is done automatically inside the CAM prole. The manufacturer-specic
bit of the Controlword (bit 15) for selection is ignored by the axis.
9 0 Automatically blend to the beginning of the new CAM:
•
Basic CAM: 1st data point
•
Advanced CAM: starting node
1 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.
Table 7.16 Denition of Bits 5, 6, and 9
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Danfoss VLT series Specifications

General

Series	VLT
Category	DC Drives
Output Voltage	0-100% of input voltage
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit, Ground Fault
Communication Interfaces	Profibus, CANopen
Enclosure Rating	IP20, IP21, IP55, IP66
Cooling Method	Forced Air Cooling, Convection Cooling
Control Mode	Sensorless Vector, Closed Loop Vector
Ambient Temperature	-10°C to +50°C (14°F to 122°F)