Emerson unidrive m300 - Page 152

152 SI-Ethernet User Guide
Issue: 1
For more information on the setting of the speed reference see section 7.31 AC/DC
Drive object attributes on page 174.
7.5.11 Basic speed and torque control
Output assembly object 0x16 (22
10
)
The PLC or scanner must be configured for 6 output bytes (or 3 output words) if this
assembly object is to be used.
Basic control word
The basic control word consists of 2 bytes (16 bits), with only 2 bits of the low byte being
used as shown below.
The individual bit functions are described as follows:
Speed reference (SpeedRef)
The speed reference word utilises 2 bytes (16 bits) as shown below.
For more information on the setting of the speed reference see section 7.31 AC/DC
Drive object attributes on page 174.
Table 7.12 Basic speed and torque control
Data Word Function
Word 0 Basic control word.
Word 1 Speed reference (SpeedRef).
Word 2 Torque reference (TorqueRef).
b15 b14 b13 b12 b11 b10 b9 b8
b7 b6 b5 b4 b3 b2 b1 b0
FaultRst RunFwd
Name
Control
Word
Description
RunFwd b0 Set this bit to command the drive to run in the forward direction.
FaultRst b2
A 0 to 1 transition will reset the drive if the drive was in a trip
state.
For the drive to run at the speed specified in Word 1, Pr 0.06.043 must be ON and bit 0,
bit 7 and bit 8 of the drive control word (Pr0.06.043) must all be set to 1.
For information on the drive control word see Table 7.10 Drive control word bit
functions on page 150.
b15 b14 b13 b12 b11 b10 b9 b8
SpeedRef (high byte)
b7 b6 b5 b4 b3 b2 b1 b0
SpeedRef (low byte)
NOTE
NOTE