Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-spe-
cific 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
Position 88h reserved reserved reserved
Digital speed 80h reserved reserved reserved
Digital current 82h reserved reserved reserved
Analog speed 81h reserved reserved reserved
Analog current 83h reserved reserved reserved
Profile Position Mode (pp) 01h new_set_point 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
Description of the remaining bits in the control word
The remaining bits in the control word are described below.
Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for hom-
ing or jogging, 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.
S300-S700 CANopen | 5 îîCANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 59
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