Lenze 931W - Manual (Page 27)

Control word / status word
General information
6
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27 K-HB 13.0001-EN 2.1
6 Control word and status word (Profidrive state machine)
6.1 General information
The servo inverter is controlled via two different access types:
1. The parameters of the inverter are accessed via the acyclic parameter channel
DP-V1. This serves to adapt, change, or set e.g., the controller settings or the driving
records. ( 41).
2. The state of the drive is changed via the state machine. The control word (STW) and
the status word (ZSW) are especially important here. The control word, which is sent
as process data cyclically from the PROFIBUS master (e.g. of a control) to the servo
inverter, changes the state of the drive. This change is detected and confirmed by
the status word which is transmitted from the servo inverter to the master. A
master control can use this information on the drive status to manage the servo
drive.
According to the Profidrive profile 2 control words (STW1 and STW2) and 2 status words
(ZSW1 and ZSW2), the single bits of which are defined in this standard with regard to their
meaning, to control the drive. Regarding the control, only the control word 1 (STW1) and
status word 1 (ZSW1) are important for the 931M/W servo inverter. For this reason, only
control and status word 1 will be explained in the following, leaving out the figure ”1” in
the description.
The next three subchapters describe in detail the structure of the control and status word
as well as the state machine and status changes. The change of parameters via the
parameter channel will be explained in the chapter ”Parameter channel” ( 41).