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4-6
Master Communication
P-0-0116, Device control: control word
® drive ON
Bit 15
® drive enable
Bit 14
® Drive Halt
Bit 13
P-0-0115, Device control: status word
Bit 15...14 ® readiness for operation
® drive error
Bit 13
® Drive Halt
Bit 4
® drive follows command value
Bit 3
S-0-0014, Interface status
® active communication phase
Bit 2...0
Drive Halt (AH)
P-0-0115: Bit 15...13 = 110
Bit 4,3 = 10
S-0-0014: Bit 2...0 = 100
drive in control
C0400 (P-0-4023)
(not for SERCOS)
C0401
P-0-0115: Bit 15...13 = 11x
Bit 4,3 = 0x
S-0-0014: Bit 2...0 = 100
check of all drive parameterizations
(plausibility, validity), encoder initialization,
calculation of conversion factors, ...
input of all writeable parameters
except for configuration parameters for
master communication
initializing PLL
check of master communication
configuration (timing, configuration lists, ...)
input of all writeable parameters
incl. configuration parameters for
master communication (e.g. profile selection)
self test, hardware initialization, parameter
initialization, motor initialization
command execution
P-0-0115: Bit 15...13 = 110
S-0-0014: Bit 2...0 = 100
e.g. spindle positioning
homing
set absol. measuring
start
command
drive enable (AF)
P-0-0115: Bit 15...13 = 110
P-0-0116:
Bit 15...13 = 110
S-0-0014: Bit 2...0 = 100
P-0-0116:
Bit 15...13 = 111
sec. oper. mode 1
prim. mode of oper.
P-0-0116:
Bit 15...13 = 011
drive ready (Ab)
P-0-0115: Bit 15...13 = 100
S-0-0014: Bit 2...0 = 100
power
ON
ready for oper. (bb)
P-0-0115: Bit 15...13 = 010
S-0-0014: Bit 2...0 = 100
C0200
(S-0-0128)
communic. phase 3 (P3)
P-0-0115: Bit 15...13 = 000
Bit 4,3 = 00
S-0-0014: Bit 2...0 = 011
C0100
(S-0-0127)
communic. phase 2 (P2)
P-0-0115: Bit 15...13 = 000
S-0-0014: Bit 2...0 = 010
booting process
Fig. 4-6:
Device control (general status machine)
MPH-02, MPB-02, MPD-02
Bit 4,3 = 00
complete
command
Bit 4,3 = 01
sec. oper. mode 3
sec. oper. mode 2
P-0-0116:
P-0-0116:
Bit 15...13 = x0x
Bit 15...13 = 01x
torque
best possible
disable
deceleration
(only for SERCOS)
(cf. P-0-0119)
Bit 4,3 = 00
power
OFF
If mains contactor off
and DC bus uncharged!
Bit 4,3 = 00
C0400 (P-0-4023)
(not for SERCOS)
drive possibly might automatically
Bit 4,3 = 00
progress to operating mode
(cf. P-0-4086, Bit 2)
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
WARNING
P-0-0115: Bit 2 = 1
error situation
(e.g. F8060)
Fxxx
P-0-0115: Bit 15...13 = 101
Bit 4,3 = 00
S-0-0014: Bit 2...0 = 100
error reaction
(depending on error class
and parameterization)
C0500
(S-0-0099)
DC000012v01_en.fh7
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