Lenze 931W - Manual (Page 38)

Control word / status word
The Profidrive state machine
State diagram for positioning
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38 K-HB 13.0001-EN 2.1
6.4.3 State diagram for positioning
Fig. 2 shows the state machine for a position-controlled drive in the basic state ”Operation
enabled”.
931m_023
Fig. 2 State machine ins the ”positioning” mode
In this operating status, the following actions can be executed via the control word:
1. Via bit 11 of the STW homing can be started. Bit 11 in the ZSW ”Home position is
set” indicates if a home position is set (valid). If homing is started, the display
”Homing set” (bit 11) is cancelled. The type of homing (direction, speed, etc.) is
application and device-specific and is hence not described in the profile. For this
purpose the parameters required for homing (PNU 101) must be checked before.
2. To accept a new setpoint or change a driving record, the edge of bit 12 of STW
”Setpoint acknowledgement” must be changed. This starts and executes the
positioning mode.
3. Via the function JOG1 and JOG2 (bit 8 and bit 9 of STW) a jogging mode can be
carried out.