Owner's manual
Table Of Contents
- KHB 13.0003-EN
- Document history
- Contents
- 1 Preface
- 2 Safety instructions
- 3 Technical data
- 4 Electrical installation
- 5 CANopen communication
- 6 Commissioning
- 7 Parameter setting
- 7.1 Loading and saving of parameter sets
- 7.2 Conversion factors ( factor group)
- 7.3 Power stage parameters
- 7.4 Motor adaptation
- 7.5 Speed controller
- 7.6 Position controller ( position control function)
- 7.7 Digital inputs and outputs
- 7.8 Device information
- 7.9 Manufacturer-specific information parameters
- 7.10 Manufacturer-specific driving records
- 8 Device control
- 9 Operating modes
- 10 Appendix
- 11 Index
Commissioning
Position control
Running through the state machine
6
70
KHB 13.0003-EN 2.0
In Fig. 8, the state changes and the corresponding states are represented graphically. The
process of running through the state machine is independent of the selected operating
mode (torque, speed or position control).
Switched
on disabled
Controlword
Shut down
Controlword
Disable Voltage
Controlword
Enable Operation
Controlword
Enable Operation
Controlword
Switch on
Switched
on disabled
Switched
on
Operation
Enable
Oper. Enable +
new Setpoint
Ready to
switch on
Identifier
Length
State
Command
Mainindex
Subindex
601h 6 2Bh 40h 60h 00h 06h 80h 00h 00h
601h 6 07h 40h 60h 00h 07h 80h 00h 00h
601h 6 0Fh 40h 60h 00h 0Fh 80h 00h 00h
601h 6 0Fh 40h 60h 00h 1Fh 80h 00h 00h
601h 6 1Fh 40h 60h 00h 00h 80h 00h 00h
Execution of positioning process
931m_053
Fig. 8 Representation of a state machine during position control commissioning