Lenze 931K - Manual (Page 57)

Device control
"Positioning" mode
Control word 1
8
l
57 KHB 13.0004−EN 2.1
8.3 "Positioning" mode
8.3.1 Control word 1
Control word 1 in "positioning" mode
Bit Command Value Meaning
0 ON / OFF (OFF 1) See chapter "State diagram" ^ 59
1 No coast stop (no OFF 2)
Coast stop (OFF 2)
2 No quick stop (no OFF 3)
Quick stop (OFF 3)
3 Enable operation
Disable operation
4 Cancel travel task 0 Cancel positioning/do not start
positioning. Settings only
take effect for
position data set
68.
1 Do not cancel positioning.
5 Intermediate stop 0 Do not start positioning.
1 No intermediate stop.
0 ® 1 Accelerate drive to travelling speed.
1 ® 0 Stop drive with delay.
6 Activate travel task
(manufacturer−specific) 0 ® 1 Start the position data set which is set under
PNU 1002/0. For PNU 1002/0 = 68 the settings of bits
4, 12 and 13 are transferred.
7 Acknowledge error 0 ® 1 Acknowledge the error.
8 Inching mode 1 on/off 0 ® 1 Start inching mode in positive direction.
1 ® 0 Stop inching mode with delay.
9 Inching mode 2 on/off 0 ® 1 Start inching mode in negative direction.
1 ® 0 Stop inching mode with delay.
10 Control authority 0 The control authority of the master is deactivated.
1 The master requests the control authority.
11 Start/stop homing 0 No homing.
1 Continue homing.
0 ® 1 Start homing.
1 ® 0 If homing is active, it is cancelled without error.
If homing is completed, the command does not cause
any action.
12 Positioning
(manufacturer−specific) 0 Absolute positioning.
Settings only
take effect for
position data set
68.
1 Relative positioning.
13 Start during a running positioning
(manufacturer−specific) 0 Start next positioning after
completion of the active
positioning.
1 Cancel active positioning and start
next positioning.
14, 15 Device−specific No function.
0 ® 1: LOW−HIGH edge
1 ® 0: HIGH−LOW edge