Lust CM-CAN1, Руководство пользователя, Страница: 53 / 84

User Manual CM-CAN1
5-3
5 Control and reference input
DE
EN
1
2
3
4
5
6
7
A
5.4 Device control
There are two different modes of controlling the devices over the CAN
bus.
In the first control mode the key functions of the device can be activated
directly by way of a LUST-specific control word. In the following this mode
is termed the “EasyDrive control mode”. Digital control functions such
as “controller enable, characteristic data set selection or states of digital
outputs” can be activated directly in the control word by bits.
In the second control mode the drive unit is controlled by way of the
DRIVECOM state machine. In this control mode the control functions
such as controller enable and error handling are activated by a state
machine described in the DRIVECOM profile. Functions such as charac-
teristic data set selection, user mode selection, table references and acti-
vation of digital outputs are provided by way of the bits not assigned in the
profile.
By way of parameter 492-CACNF the control mode and the mode of refer-
ence input are defined.
CACNF Reference Actual Activation
0 No reference adopted No actual value transfer No activation
1
16-bit reference
frequency (Q0)
16-bit actual frequency (Q0)
DRIVECOM state
machine
2
32-bit reference
frequency (Q16)
32-bit actual frequency (Q16)
DRIVECOM state
machine
3
32-bit reference
frequency (Q16) 16-bit actual frequency (Q0)
16-bit actual torque (Q0) DRIVECOM state
machine
4
32-bit reference
frequency (Q16)
32-bit actual frequency (Q16)
EasyDrive control mode
(factory setting)
Table 5.1 Reference and actual value transfer, CAN
LUST