Emerson SI-PROFIBUS - Page 70

70 Unidrive M SI-PROFIBUS User Guide
Issue Number: 3
Figure 12-2 PROFIdrive V4 Speed Control State Machine
Speed Error
Comparator
Setpoint
(Main/Jog)
t
max
Tolerance range
Actual value
Status word bit 5 0= 1=
Speed Compa
r
a
t
o
r
Setpoint
(Main/Jog)
Actual
value
S
t
a
t
u
s
w
o
r
d
b
i
t
6
0
=
1
=
(
P
r
)
1
0
.
0
0
7
Control Word bit 4: 1= enable RFG 0 = reset RFG
Control Word bit 5: 1= unfreeze RFG 0 = freeze RFG
Control Word bit 6: 1 = enable main setpoint 0 = reset main setpoint
Ramp function genrator
C1 C2 O/P
000 10J1 01J2 1 1 no change
J1 J2
Ramp function genrator
Main setpoint value
(Pr )
01.021
To speed controller
Control word bit 8 1 = jog forward ON 2 = jog forward OFF
Reset RFG
Control word bit 9 1 = jog reverse ON 2 = jog reverse OFF
Jog forward set-point
(Pr )
01.005
Jog reverse set-point
(Pr )
01.005
0 = Main set-point active
(control word bit 4, 5 or 6 = 1)
1 = Jog set-point active
(control word bit 4, 5 or 6 = 0)
Reset RFG
Speed or frequency reached / exceeded
Speed or frequency not reached
Not at speed
At speed
(Pr )
10.006