TR-Electronic MP Series - Table 10: Control Word P967 Positioning; Table 11: Status Word P968 Positioning

Drive-specific functions
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Bit
Value
Significance
Description
4
1
Operating condition
0
Reject move order
encoTRive brakes to rest from an active move order with
maximum acceleration. The current move order is
rejected.
5
1
Operating condition for
positioning
0
Pause
encoTRive brakes to zero speed from an active move
order on the ramp, and remains stopped with holding
torque. The move order is not rejected. The move order is
resumed when Bit 5 changes to 1.
6
Activate move order
Each edge enables a move order or a setpoint. A toggle
without changed the movement parameter is not allowed.
11
1
Start referencing
Referencing operation started. ZSW.11 is set to 0.
Prerequisite: Run enabled.
0
Stop referencing
A current referencing operation is interrupted. Drive stops
on ramp.
Table 10: Control word P967 positioning
Bit
Value
Significance
Description
8
1
No tracking error
The dynamic comparison of setpoint and actual value lies
within the tracking window (P305)
0
Tracking error
The dynamic comparison of setpoint and actual value lies
outside the tracking window (P305)
10
1
Target position reached
The position value is within the positioning window at the
end of a move order (P304)
0
Not in target position
The position value lies outside the positioning window
(P304)
11
1
Reference point set
Referencing has been carried out and is valid.
ZSW.11 = 1: Response of the referencing procedure and
is only active until the system is rebooted (cold starting).
The parameter 805 represents the permanently adjusted
reference point, see chapter 8.5.1 Manufacturer-specific
parameters.
0
No reference point set
12
Acknowledge setpoint
The acceptance of a new move order is acknowledged by
an edge (same level as STW.6)
13
1
Drive stopped
Signalizes the completion of a move order, or standstill in
the case of pause and stop.
0
Drive running
Move order is being executed, drive in motion
Table 11: Status word P968 positioning