Siemens SINAMICS V90 - Page 145

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Operating Manual, 04/2017, A5E36618042-003
145
Note
The following signals are occupied by Modbus control word when you use the setpoint and
control word from Modbus as the Modbus cont
rol source (p29008 = 1). They can only be
enabled by Modbus control word while cannot be enabled by external DI terminals.
•
PTI control mode: SON
•
IPos control mode: SON, SREF (REF for reference mode 0)
•
S control mode: SON, CWE/CCWE
•
T control mode: SON
Note
In IPos control mode, when the relative positioning mode is selected, the method for
accepting MDI setpoint must be a rising edge (bit 5 = 0); otherwise, fault F7488 occurs.
Note
In IPos control mode, when you implement the absolute positioning for
the modular axis with
Modbus, you can select the MDI direction with parameter p29230.
Note
In T control mode, the motor cannot be stopped with OFF1 via Modbus.
Note
All the reserved bits in register 40100 must be set to 0.
Definition of register 40110
Bit
PTI, IPos, S and T control modes
Signals
Description
0
RDY
Servo ready
1
FAULT
Fault status
2
INP
In-position signal
3
ZSP
Zero speed detection
4
SPDR
Speed reached
5
TLR
Torque limit reached
6
SPLR
Speed limit reached
7
MBR
Motor holding brake
8
OLL
Overload level reached
9
WARNING 1
Warning 1 condition reached
10
WARNING 2
Warning 2 condition reached
11
REFOK
Referenced
12
MODE 2
In the second control mode
13
Reserved
-
14
Reserved
-
15
Reserved
-