7.1.4 Enable the drive and run in velocity mode
The general state machine of the PROFIdrive ("General State Machine" (
p. 30)) needs to
be toggled to enable the drive. You can find in the variable table “TG1_IO_DATA” all neces-
sary input and output parameters described bit-wise.
To enable the drive, write the following sequence in the control world:
1. QW 2#0000_0100_0000_0000 -> Remote control over field bus
2. QW 2#0000_0100_0000_0110 -> Go to S2 (Switch on inhibited)
3. QW 2#0000_0100_0000_1110 -> Go to S3 (Switched on)
4. QW 2#0000_0100_0000_1111 -> Go to S4 (Operational)
The drive is enabled, if the corresponding bits in the status word are set. TIP: If WorkBench
is connected, you will see the drive is enabled.
Now the set point velocity can be set. In the example (see variable table) the value is QW
258 is 0xA3 (60 rpm ("Units" (
p. 43))). To start the motion, set Bit 4, 5 and 6 (enable ramp
generator, unfreeze ramp generator and enable new set point).
AKD PROFINET | 7 Sample Projects
Kollmorgen | December 2014
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