If a state transition is requested, the related actions are processed completely before transitioning to the new state. Forexample, in state Operation enabled, when the disable operation command is received, the servo drive remains in stateOperation enabled until the disable operation function (see chapter 7.20.9 Parameter 50-49: Disable Operation Option Code(0x605C)) is completed.Drive function is disabled means that no energy is supplied to the motor. Target or setpoint values (for example, torque,velocity, position) are not processed. Drive function is enabled means that energy is supplied to the motor. Target or setpointvalues are processed.If a fault is detected in the servo drive, a transition to state Fault reaction active takes place. In this state, the state machineexecutes a special fault reaction (see chapter 7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E)). After the executionof this fault reaction, the servo drive automatically switches to state Fault. This state can only be left by using the fault resetcommand, but only if the fault is no longer active.If a fatal error occurs, the servo drive is no longer able to control the motor, so the servo drive must be switched offimmediately. If a fatal error has occurred, the servo is trip-locked and cannot be reset via fieldbus.The behavior of drive disabling, quick stop, halt, and fault reaction functions are configurable via the objects defined inchapter 7.20 Option Code Objects.If a brake is present, the high-level power is switched off after a delay time in order to apply the brake.2.3.2 Factor GroupUse the factor group to set the user-defined units requiredin the application.The user-defined units are:• Position units• Velocity units• Acceleration unitsThese units are used for all objects that support user-defined units (for example, position actual value, profilevelocity, and profile acceleration).Changing the objects in the factor group has animmediate effect on all objects that support user-definedunits. Their numerical values stay the same, but they areinterpreted differently (according to the new scaling factorsof the factor group). All numerical values are interpretedusing the current settings of the factor group.NOTICEIf the factor group is changed, then the default valuesare interpreted differently.The formulae in this chapter show the calculation of theunits. Objects, whose values are not dependent on thefactor group, have fixed units specified with the objects.The objects of the factor group can be found inchapter 7.4 Factor Group Objects.Position units:The position value is calculated as:Position value =position internal value x feed constantposition encoder resolution x gear ratioPosition value means all objects containing values in user-defined position units.Position internal value is given in encoder increments.Velocity units:The velocity value is calculated as:Velocity value = x velocity factorvelocity internal value x feed constantvelocity encoder resolution x gear ratioVelocity internal value is the position internal value(s),resulting in the following formula:Velocity value = x velocity factorposition valuesVelocity value means all objects containing values in user-defined velocity units.Servo Drive Operation Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 212 2
