Lenze 931W - Manual (Page 39)

Control word / status word
The Profidrive state machine
State diagram for positioning
6
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39 K-HB 13.0001-EN 2.1
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Stop!
In case of a jogging mode (JOG1 and JOG2) the software and hardware limit
switches are not evaluated!
The drive is not limited with regard to its permitted travel range!
During the positioning process, several options exist to intervene in the process:
1. A travel request can be interrupted using the command ”Intermediate stop” (bit 5 of
STW). The drive brakes along the set deceleration ramp to standstill. The current job
request is stopped and can be continued by cancelling the command ”Intermediate
stop”.
2. In the ”Intermediate stop” state, homing can be started.
3. A travel request can be cancelled using the command OFF1 (bit 0 of STW: Drive off),
OFF2 (bit 1 of STW: Coasting) or OFF3 (bit 2 of STW: Quick stop). The drives brakes
depending on the mode selected to standstill and then changes to S1 status
”Switch-on inhibit” (OFF2, OFF3) or S2 ”Ready to switch on”.
A travel request is terminated when the drive has reached its setpoint. This is displayed
with the status bit 10 ”Setpoint reached”.
The ”Concatenation” mode enables speed-controlled and positioning driving records to be
started without taking special measures. Here, the following driving records and waiting
times between the concatenated driving records are considered. Further information can
be obtained from the explanation of the object PNU 100.