Procedure For Positioning, Referencing And Jogging; Set Drive To "Positioning Mode - TR-Electronic MP-Series Benutzerhandbuch

14 Procedure for positioning, referencing and jogging

14.1 Set drive to "Positioning Mode"

To enable the drive to be positioned, referenced or jogged via Profibus, the drive must
first be put into Positioning Mode according to PROFIDRIVE V3.0. This can be done
by using the following procedure. Before, the mode of operation Positioning in the
parameter P930 must be preselected.
The order of the control commands (control word) and the interrogation of the
current status by means of the status word must be maintained, as otherwise the
command sent cannot be executed.
1. Status word (ZSW, P968) returned after switch-on:
ZSW = 0000_0010_0100_0000
 Bit6 (ZSW) = 1 => Switch on inhibit
 Bit9 (ZSW) = 1 => Command required; the control system is requested to take over
command.
Status: SWITCH-ON INHIBIT
Action required: none
2. Change from SWITCH ON INHIBIT to READY TO SWITCH ON
STW = 0000_0100_0000_0110
 Bit1,2 (STW) = 1 => All "OFF2" and "OFF3" commands are canceled
 Bit10 (STW) = 1 => Command assumed by control system; process data valid. Must
always be set for cyclical RT-communication via PROFINET.
Feedback:
ZSW = 0000_0010_0011_0001
 Bit0 (ZSW) = 1 => Ready to switch on
 Bit4, 5 (ZSW) = 1 => No "OFF2", "OFF3"
3. Change from READY TO SWITCH ON to READY
STW = 0000_0100_0000_0111
 Bit0 (STW) = 1 => Ready, voltage on converter
Feedback:
ZSW = 0000_0010_0011_0010
 Bit1 (ZSW) = 1 => Ready
4. Change from READY to OPERATION ENABLE
STW = 0000_0100_0000_1111
 Bit0 (STW) = 1 => Enable electronics and pulses
Feedback:
ZSW = 0010_0010_0011_0100
 Bit2 (ZSW) = 1 => Ready
 Bit13 (ZSW) = 1 => encoTRive
Printed in the Federal Republic of Germany
06/06/2019 TR - EMO - BA - DGB - 0019 - 08
 TR-Electronic GmbH 2008, All Rights Reserved
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