Lexium 15 using EcoStruxure™ Control Expert
Lexium 15 operating modes
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Servodrive operating modes
Chapter 9
Servodrive operating modes
Purpose of this chapter
This chapter explains the different operating modes of the Lexium 15 servodrive on FIPIO.
What Is in This Chapter?
This chapter contains the following topics:
Topic
Operating Modes of Servodrive
Status Diagram
Unilink-forced offline mode
Downgraded Operating Modes
Page
104
105
107
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Lexium 15 operating modes
Operating Modes of Servodrive
Introduction
The Lexium 15 servodrive on a Fipio bus has the following 7 operating modes :
0 : Speed setpoint,
1 : Analog speed,
2 : Torque setpoint,
3 : Analog torque,
4 : Position on external encoder,
5 : Position setpoint,
8 : Motion control :
With DIRECT MOVE inactive,
With DIRECT MOVE active.
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Status Diagram
Status Diagram for the DriveCom Standard
The Lexium 15 servodrive can be driven via Fipio in accordance with the following status diagram
The diagram below has been adapted to the properties of the Lexium 15 in order to facilitate programming. Each status represents an internal servodrive behavior. It is possible to change from one status to another by using the command word %QW\2.c\0.0.0
(STW). The status of the drive can be viewed using the status word %IW\2.c\0.0.0
(ZSW).
STATUS ZSW AND 16#006F
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The following table shows the combinations of bits accepted by the command word (STW).
Command
Stop
Run
Inhibit voltage
Fast stop (deactivate)
Fast stop (authorize)
Inhibit operation
Authorize operation
Clear Error
Acknowledge Warnings
-
-
-
-
-
1
-
-
-
Bit 13 Bit 7
-
-
-
-
-
-
-
-
1
-
1
-
0
-
-
-
-
-
Bit 4
0
1
-
1
-
-
-
-
-
Bit 3
1
1
0
1
-
-
-
1
Bit 2
1
1
1
1
1
-
-
1
0
Bit 1
1
1
1
-
1
-
-
-
1
Bit 0
0
-
Key :
Not significant.
The following table shows the combinations of bits accepted by the status word (ZSW).
Command
Not ready to run
Prevent run
Ready to run
Ready for operation
Operation authorized
Operation inhibited
Error
Error response
Fast stop active
0
0
0
0
0
0
0
Bit 6
0
1
-
-
0
-
1
1
1
-
-
Bit 5
-
-
-
-
-
-
-
-
-
Bit 4
1
1
0
0
1
0
0
Bit 3
0
0
0
0
0
1
0
0
0
Bit 2
0
0
0
0
1
1
0
0
1
Bit 1
0
0
0
0
1
1
0
1
1
Bit 0
0
0
-
Key :
Not significant.
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Unilink-forced offline mode
Unilink-forced offline mode
When the axis is debugged, it is possible to switch to forced offline mode in Unilink.
The switch to offline mode is achieved by using the servodrive "Validation" command through
Unilink. In this case the exchange of Fipio command words is halted, and the entire Unilink command set is accessible as if in independent operating mode.
The exchange of Fipio command words is reactivated with the servodrive "Devalidation" commando through Unilink.
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Lexium 15 operating modes
Downgraded Operating Modes
Operating Modes
The behavior of Fipio on Lexium 15 when operating in downgraded mode is specified below :
Operating mode
Stop PLC
Network fault
Fipio network configuration refused
Performance
The outputs %QW are maintained except %QW\2.e\0.0.0.d.0
to
%QW\2.e\0.0.0.d.3
set to 0.
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