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PD6-E/-EB EtherCAT Online Manual

Torque

This mode is a manufacturer specific mode where the torque is the set value and is reached via a ramp function.

To activate the mode, set the parameter 930 Operating Mode to the value "8004h". In this mode you can use the Telegram 200.

Control Word

Listed in the following table are the bits in 967 Control Word 1 (STW1) that result in the corresponding state transitions of the general PROFIdrive state machine.

Bit Name Description
0 OFF/ON

Set this Bit to "1" to switch on the drive voltage.

Power-down (OFF1) by setting this bit to "0"; the drive returns to the "Ready For Switching On" condition. The drive is ramped-down along the ramp . If/once in standstill, the main voltage is switched off.

1 Coast Stop Set this bt to "1" to withdraw all "Coast Stop (OFF2)" commands.

Set this bit to "0" to switch the voltage off. The drive goes into the "Switching On Inhibited" condition; the motor coasts down to a standstill.
2 Quick Stop Set this bit to "1" to withdraw all "Quick Stop (OFF3)" commands.

Set this bit to "0" to command a Quick stop. The drive is decelerated as fast as possible and´goes into the "Switching On Inhibited" condition. A Quick Stop command is not interruptible.
3 Enable Operaton

Set this bit to "1" to enable electronics and operation.

Set this bit to "0" to disable operation. The drive coasts down to a standstill and goes into the "Switched on" condition.
7

Fault Acknowledge

(0 -> 1)

The fault is acknowledged with a positive edge. If the fault reaction has switched off the voltage, the drive then goes into the "Switching On Inhibited" condition.
15 Enable Autosetup Mode Activates the mode Auto setup. If set, the bit has higher priority than the setting in 930 Operating Mode .

Following bits in the parameter 967 Control Word 1 (STW1) have a special function in this mode:

Bit Name Description
5 Intermediate Stop On a negative signal edge (1> 0), the drive brakes along a ramp, and remains stationary with the holding torque. The current travel command is not rejected and is continued when this bit changes to 1 again.
6 Enable Setpoint A positive signal edge enables a new torque setpoint.
11 Enable Real Torque Mode Set this bit to "1" to activate the Real Torque Mode.

The torque controller is active (otherwise a velocity controller is superimposed.) No V-controller is used in the torque mode for speed limiting, thus the limitation in 841 Torque Max Velocity is ignored.

If the bit is set, bit 5 in 3202h ignored.
14 Enable Slow Speed Set this bit to "1" to activate the Slow Speed mode. If the bit is set, bit 7 in 3202h ignored.

Status Word

Listed in the following table are the bits in 968 Status Word 1 (ZSW1) that break down the state of the general PROFIdrive state machine.

Bit Name Description
0 Ready To Switch On Power supply is switched on, electronics initialised,,pulses are inhibited.
1 Ready To Operate Refer to bit 0 of controword 1.

This bit remains set during deceleration following an OFF-command.
2 Operation Enabled Electronic and pulses are enabled, drive follows setpoint (refer to controlword 1, bit 3).
3 Fault Present Unacknowledged faults or currently not acknowledgeable faults (fault messages) are present (in the fault buffer).
4 Coast Stop (OFF 2) If this bit is 0, a coast stop is active.
5 Quick Stop (OFF 3) If this bit is 0, a quick stop is active.
6 Switching On Inhibited This bit is set back to zero and the drive goes again in the "Switched On" condition only with "No Coast Stop AND "No Quick Stop" followed by an "ON-command".
7 Warning Present Not acknowledged warning present in the buffer.
9 Control Requested The PROFINET controller has the control and manages the PROFIdrive state machine.

The value of the Bits is always "1" , except if the special drive modes are activated.
15 Closed Loop Active Bit set: Closed Loop is active

Following bits in the parameter 968 Status Word 1 (ZSW1) have a special function in this mode:

Bit Name Description
10 Target Torque Reached If this bit is "1", the target torque is reached.
14 Limit Exceeded If this bit is "1", the torque (current) is being limited (see I2t Motor overload protection)

Parameters used in this mode

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