8.4
Enable the PMCtendo DD4
The hardware enable signal must be applied, as a precondition for enabling the PMCtendo DD4 via
the PROFIBUS.
The enable can be made by setting the bit combination for the “Operation enabled” state in the con-
trol word.
Byte 9
10
11
12
xxx0 x1xx 0011 1111 xxxx xxxx
xxxx xxxx
STW
HSW
The PMCtendo DD4 then reports back the corresponding state in its status word, or indicates a
warning or error message.
Byte 9
10
11
12
xxxx xx1x 0010 0111 xxxx xxxx
xxxx xxxx
ZSW
HSW
8.5
Start jog mode
Jog mode is started in a similar manner to homing. To start, Bit 8 STW must be set. The jog velocity
is given by the product of the 16-bit main setpoint in PZD2 and the multiplier defined by parameter
1250. The sign of the main setpoint determines the direction of movement.
It is not necessary to have a reference point set for jogging.
8.6
Set reference point
Warning:
Take care that the position of the reference point permits the following positioning opera-
tions. The parameterized software limit-switches in the PMCtendo DD4 may not be effective.
The axis could then drive up to the hardware limit-switch or the mechanical stop. There is a
danger of damage being caused.
The control word Bit 12 = 1 defines the momentary position as being the reference point. The posi-
tioning functions are enabled.
The shifting of the zero point (NI-offset) is ineffective.
The replay “Reference point set” is made through Bit 17 in the manufacturer-specific status register
(PNU 1002) or Bit 1 (manufacturer status of the process data).
Conditions:
PNU930
¹
-16
No motion function active
manufacturer specific status, process data 5 bit 0
User manual PROFIBUS DP PMCtendo DD4
Page 49
8 Sample telegrams
