Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 62
5 Motor control & motor settings
5.2 Commissioning functions (short overview)
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5.2.1 Enable/inhibit operation via control word
The operating mode can only be selected in 0x2825 (or 0x3025f or axis B) when operation is
inhibited (pulse inhibit). In order to start the corresponding procedure after the selection, the
operation must be enabled explicitly.
Required steps to enable the operation after an STO:
1. Apply the STO terminals of the axis to 24 V.
2. Use the control word (0x6040
or 0x6840 for axis B) to execute the following commands one
after another:
Access to the control word via SDO access
The control word is part of the standard mapping and is preset in the cyclic interface. In this
configuration, the control word commands have to be initiated by the controller via PDO access. If
this is not possible, for instance, since a manual intervention through the controller is not intended,
it is possible to switch off the control via PDO and carry out the enable via an SDO access:
1. Set the object 0x2824
(or 0x3024 for axis B) to "0: Off" to switch off the control via PDO.
2. An SDO access to the control word (0x6040
or 0x6840 for axis B) serves to execute the
commands given above one after another.
3. After having executed the commands in the object 0x2824
(or 0x3024 for axis B), select
"1: Activate" to re-activate the control via PDO.
Inhibit operation via control word (pulse inhibit)
In order to inhibit the enabled operation without using the STO terminals, use the control word
(0x6040
or 0x6840 for axis B) to execute the following command:
In this case, a subsequent renewed enable only requires (without using the STO terminals) the
control word command "Enable operation
" (setting "15").
Command Setting in the control word Notes
Shutdown 6 A changeover from the "Switch on disabled" device
status to the "Ready to switch on
" device status takes
place.
Switching on
7 The switch-on inhibit which is active after switch-on or
reset of an error (acknowledgement) is deactivated. A
changeover to the "Switched on
" device status takes
place.
Enable operation
15 The operation is enabled and an active quick stop is quit
again. A changeover to the "Operation enabled
" device
status takes place.
Command Setting in the control word Notes
Disable operation
7 The pulse inhibit is set. When the automatic brake
operation is activated, it is waited for the parameterised
brake closing time until the brake is applied before the
pulse inhibit is set. It is changed back to the "Switched
on" device status.
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