S300-S400-S600-S700 PROFIBUS | 6 Process data channel
6.1.1 Control word (STW)
With the aid of the control word, you can switch from one amplifier state to another. In the diagram
for the state machine you can see which instrument states can be reached by which transitions.
The momentary amplifier state can be taken from the status word. Several states may be passed
through during one telegram cycle, for example
Ready for switch on → Ready for operation → Operation enabled.
The bits in the control word can be (operating-) mode-dependent or mode-independent.
Bit Name Kommentar
0 Switch on —
1 Inhibit voltage —
2 Fast stop, switch-on
inhibited
1 -> 0 drive decelerates using emergency ramp, axis is disabled
(See also ASCII-commands STOPMODE and DECDIS)
3 Operation enabled —
4 Fast stop (inhibit rfg) 1 -> 0 drive decelerates using emergency ramp
5 Pause (stop rfg) Operating mode dependent, 1 -> 0 stops motion
6 Setpoint enable Operating mode dependent (see table below)
7 Reset Fault only effective with errors
8 Jogging (on/off) Operating mode dependent (see table below)
9 reserved —
10 PZD (enable/inhibit) —
11 Start homing run (edge) Operating mode dependent (see table below)
12 Manufacturer specific reset the position
13 Manufacturer specific acknowledge warnings
14
Manufacturer specific
position opmode only:
Bit14 = 1: PZD section is interpreted as direct motion block (velo-
city 32-bit, position 32-bit, motion block type 16-bit
Bit14 = 0: PZD section (HSW) is interpreted as motion block no.
15 Manufacturer specific depends on operating mode, digital speed
Depending on the bit combination in the control word, a corresponding control command is
defined. The following table shows the bit combinations and also determines the priorities of the
individual bits, in case several bits are altered in one telegram cycle.
Command Bit 13 Bit 7 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Transitions
Shutdown x x x x 1 1 0 2, 6, 8
Switch-on x x x x 1 1 1 3
Inhibit voltage x x x x x 0 x 7, 9, 10, 12
Fast stop (amplifier is disabled) x x x x 0 1 x 7, 10,11->12
Fast stop (amplifier remains enabled) x x 0 1 1 1 1 11
Inhibit operation x x x 0 1 1 1 5
Enable operation x x 1 1 1 1 1 4, 16
Reset error x 1 x x x x x 15
Acknowledge warnings 1 x x x x x x -
Opmode dependent bits in the control word:
Opmode Bit 5 Bit 6 Bit 8 Bit 11
Position Motion block: The parameter that is set in
the motion block is used.
Setup operation: The parameter that is set
as a ramp for homing and jogging is used
Start a motion
task with every
transition edge
(toggle bit).
Start jog-
ging
Start
homing
Digital speed Drive brakes with preset speed ramp. Setpoint enable reserved reserved
Digital current reserved Setpoint enable reserved reserved
Analog speed reserved reserved reserved reserved
Analog current reserved reserved reserved reserved
Trajectory reserved reserved reserved reserved
Priorityof the Bits 6, 8, 11 in position-controlmode: 6 (high), 11, 8 (low).
40 Kollmorgen | kdn.kollmorgen.com | December 2019
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