Infranor XtrapulsGem User Manual

51
X
trapulsPac - User Guide
Chapter 3 – Reference
Control Word
Inde
x
0x6040
Name Control Word
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping Possible
Default Value 0000
Bit Numbe
r
Function
0 Switch On
1 Disable Voltage
2 Quick Stop
3 Enable Operation
4 Operation Mode Specific
5 Operation Mode Specific
6 Operation Mode Specific
7 Reset Fault (rising edge)
8 Halt (mode PV, PT, AS, AT)
Device control commands are triggered by the following bit patterns in the control word:
Command /
Bit of the control_word
bit 7
Fault Reset
bit 3
Enable
Operation
bit 2
Quick Stop
bit 1
Disable
Voltage
bit 0
Switch On
Transition
Shutdown X X 1 1 0 2, 6, 8
Switch On X X 1 1 1 3
Disable Voltage X X X 0 X 7, 9, 10, 12
Quick Stop X X 0 1 X 7, 10, 11
Disable Operation X 0 1 1 1 5
Enable Operation X 1 1 1 1 4, 16
Fault Reset

X X X X 15
Bit 4, 5, 6 are operation mode specific:
Mode Bit 4 Bit 5 Bit6
Profile Position Mode new set point change_set_immediately 0: absolute
1: relative
Homing Mode Homing Operation Start reserved reserved
Interpolated Position Mode enable ip_mode reserved reserved
Profile Velocity Mode reserved reserved reserved
Correct sequence to enable the drive:
Seq Control Word (0x6040) Corresponding
Status Word (0x6041)
Remarks
1 0x0000 0x0240 state "Switch On Disabled"
drive is disabled
2 0x0006 0x0221 state "Ready To Switch On"
drive is disabled
3 0x0007 0x0223 state "Switch On"
drive is enabled
4 0x000F 0x0227 state "Operation Enable"
drive is enabled

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English