Emerson SI-PROFIBUS

Unidrive M SI-PROFIBUS User Guide 67
Issue Number: 3
Safety
information
Introduction
Mechanical
installation
Electrical
installation
Getting
started
Parameters
GSD
Files
Cyclic data
Non-cyclic
data
Control and
status words
Diagnostics
PROFIdrive
profile (V4)
Advanced
features
Legacy
features
Glossary of
terms
Index
Giving:
Example 2 - RFC-A / RFC-S drive
The speed feedback (Pr 03.002) = 1000.0 rpm
The main actual value can be calculated by:
12.5 PROFIdrive (V4) State Machine
The general state machine diagram (V4.0) is shown in Figure 12-1.
The Speed Control state machine is shown in Figure 12-2.
The correct sequence of operation must be used for the state machine otherwise the
message will be rejected and the entire sequence must be restarted. The only exception
to this rule is when moving from state S2, it is possible to bypass state S3 and jump to
state S4 directly.
12.6 Normal Run Sequence
The following sequence can be used to get the motor turning (all bit values refer to the
PROFIdrive control word):
• Enable network control (bit 10 = 1, 0x0400)
• Remove all STOP commands (bits 1 & 2 = 1, 0x0406: S1 to S2)
• Set drive to Ready (bit 0 = 1, 0x0407: S2 to S3)
• Enable operation (bit 3 = 1, 0x040F: S3 to S4)
• Enable ramp function generator (bit 4 = 1, 0x041F)
• Unfreeze ramp function generator (bit 5 = 1, 0x043F)
• Enable setpoint value (bit 6 = 1, 0x047F)
• Set the main setpoint value in word 1 (Pr 01.021)
The motor should now accelerate to the speed set by the main setpoint value.
In order to stop the motor, the following options are available:
• Stop the motor using the drive ramp function: set bit 0 to OFF (0x047E) or
• Stop the motor and coast to zero speed: set bit 1 to OFF (0x047D) or
• Stop the motor using ‘Quick stop’: set bit 2 to OFF (0x047B)
• Disable drive: set bit 3 to OFF (0x0477)
There is a priority control hierarchy when more than the one stop command is given,
these priorities are shown in the general state machine diagram and summarized in
Table 12.2 on page 68.
MAV
35.0 16384×
50.0
------------------------------------ 11469==
MAV 1000.0
16384
1500.0
------------------
× 10923==