Drive_Working_Settings

This register is used to parametrize drive working modalities.

Bit Explanation:

Forward_Limit_Switch_Check: When this bit is set (1) the drive will check continuously for the intervention of  forward limit switch (see Drive_Inputs_Setting and Drive_Inputs_Level objects). If the limit switch intervene and the motor is running forward, the motor will stop without deceleration ramp and the Motor_Overrun bit of Drive_Register object will be set. When this bit is reset (0) the drive will not check for the forward limit switch at all.

Backward_Limit_Switch_Check: When this bit is set (1) the drive will check continuously for the intervention of  backward limit switch (see Drive_Inputs_Setting and Drive_Inputs_Level objects). If the limit switch intervene and the motor is running backward, the motor will stop without deceleration ramp and the Motor_Overrun bit of Drive_Register object will be set. When this bit is reset (0) the drive will not check for the backward limit switch at all.

Fast_Stop_From_Input: When this bit is set (1) the drive will check continuously for the intervention of  fast stop input (see Drive_Inputs_Setting and Drive_Inputs_Level objects). If the fast stop intervene and the motor is running, the motor will stop (according to bit Fast_Stop_Motor_Action) and the Fast_Stop_Active bit of Drive_Register object will be set. When this bit is reset (0) the drive will not check for the fast stop input at all.

Limit_Switches_Motor_Action: When this bit is set (1) the drive will stop the motor with a deceleration ramp when a limit switch intervene. When this bit is reset (0) the drive will stop immediately the motor when a limit switch intervene.

Feedback_Motor_Check: When this bit is set (1) the drive will enable the feedback feature to close the motion control loop. This will optimize the motor efficiency (see Closed Loop Modality for details). When this bit is reset (0) the feedback feature is disabled. The ‘Feedack’ feature (bit 4 of Drive_Working_Settings object) and ‘Motor Stall detection’  feature (bit 13 of Drive_Working_Settings_Extended object) cannot be both active at the same time otherwise an alarm is issued (bit 5 of Error_Register object and bit 14 of Feedback_Status). See Note⁽¹⁾.

Automatic_Motor_Current_Reduction: When this bit is set (1) the drive will automatically set the motor current equal to Min_Current object. When this bit is reset (0) the drive will continue to set the motor current equal to Max_Current object even though the motor is stopped.

Disable_Digital_Outputs_FW_Handling: When this bit is set (1) the firmware will not set/reset automatically the digital outputs assigned to Ready/Busy function. Whole digital outputs are available to the user (except Fault output). When this bit is reset (0) the firmware will set/reset automatically the digital outputs assigned to Ready/Busy function. The remaining digital outputs are available to the user (except the Fault output). See Appendix A – Multiplexed I/O Allocations.

Fast_Stop_Motor_Action: When this bit is set (1) the drive will stop the motor with a deceleration ramp when the emergency fast stop intervene. When this bit is reset (0) the drive will stop immediately the motor when the emergency fast stop intervene.

Fast_Stop_Power_Action: When this bit is set (1) the drive will open the transistors (no current, no voltage powered to the motor) if fast stop happened. When this bit is reset (0) the drive will continue to power the motor even after a fast stop command.

Motor_Rotation_Direction: When this bit is set (1) the motor will rotate counter clockwise when the motion direction is forward (Position_Actual_Value object increase) and clockwise when the motion direction is backward (Position_Actual_Value object decrease). When this bit is reset (0) the drive motor will rotate clockwise when the motion direction is forward (Position_Actual_Value object increase) and counter clockwise when the motion direction is backward (Position_Actual_Value object decrease).

Feedback_Error_Motor_Action: When this bit is set (1) the drive will stop any movement in progress if a feedback error is detected. The bit Motor_Feedback_Error of Drive_Register object is set. See Closed Loop Modality for details. When this bit is reset (0) the drive will not take any action, if a feedback error is detected, except setting the bit Motor_Feedback_Error of Drive_Register object. See Closed Loop Modality for details.

Master_Watchdog_Timeout_Action: When this bit is set (1) the drive will stop any movement in progress if the bit Master_Watchdog of Master_Register object has not been refreshed within Master_Watchdog_Timeout object time. The bit Master_Watchdog_Timeout of Drive_Register object will also be set. When this bit is reset (0) the drive will not take any action, if the bit Master_Watchdog of Master_Register object has not been refreshed within Master_Watchdog_Timeout object time, except setting the bit Master_Watchdog_Timeouted of Drive_Register object.