AKD User Guide |
21.4.4.2 Commands in the Control Word
Bit assignment in the control word
Bit Name Bit Name
0 Switch on 8 Pause/halt
1 Disable Voltage 9 reserved
2 Quick Stop 10 reserved
3 Enable Operation 11 reserved
4 Operation mode specific 12 reserved
5 Operation mode specific 13 Manufacturer-specific
6 Operation mode specific 14 Manufacturer-specific
7 Reset Fault (only effective for faults) 15 Manufacturer-specific
Commands in the control word
Command
Bit 7
Fault Reset
Bit 3
Enable Operation
Bit 2
Quick Stop
Bit 1
Disable Voltage
Bit 0
Switch on Transitions
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 1 X X X X 15
Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.
Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-specific modes are
supported at present. The individual modes are set by Object 6060h Modes of operation.
Operation mode No. Bit 4 Bit 5 Bit 6
Profile Position Mode (pp) 01h new_setpoint change_set_
immediately
absolute/relative
Profile Velocity Mode (pv) 03h reserved reserved reserved
Profile Torque Mode (tq) 04h reserved reserved reserved
Homing Mode (hm) 06h homing_operation_start reserved reserved
Interpolated Position Mode (ip) 07h reserved reserved
Cyclic synchronous position mode 08h reserved reserved reserved
Description of the remaining bits in the control word
Bit 8: (Pause) If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing or jog-
ging, motion task number, setpoints for digital mode) for the individual modes are retained.
Bit 9,10: These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15: These bits are manufacturer-specific, and reserved at present.
51 Kollmorgen | December 2010
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