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MSD Servo Drive User Manual SERCOS II
18
4.3 Master control word
The master control word is part of the master data telegram. It contains all the key con-
trol information for the drive.
The master control word is mapped in parameter S-0-0134. The precise structure of
this parameter is shown in the following table. The master control word is transferred
cyclically to the drive with each master data telegram in the SERCOS cycle (see “SERCOS
cycle time”). For diagnostic purposes, the master control word can be read via param-
eter S-0-0134, “Master control word”.
Bit Explanation
Bits 15-13
1 1 1 Drive to follow setpoints
Bit 15 (MSB) Drive ON/OFF
0 DriveOFF:Onswitchingfrom1•0thedriveisshutdownasbestaspossible
(according to the setting of P-0-2219), then the torque is shut off as necessary
at standstill; the power stage can remain active (only possible if bit 14 = 1 and
with corresponding setting of P-0-2219), then the torque is shut off at speed
nmin; the power stage can remain active (only possible if bit 14 = 1)
1 Drive ON
Bit 14 Drive ENABLE
0 Noenable.Onswitching1•0thetorqueisshutoffandthepowerstage
disabled with no delay (regardless of bits 15 and 13)
1 Drive enable
Bit 13 Drive HALT (can be used to stop the drive without reference to the current
active control function)
0 Drive stop: The drive is no longer following the setpoints. On switching from
1•0thedrivestopsaccordingtothesettingofP-0-2221 and taking into
account the last active acceleration (by default according to acceleration
parameter P-0-2242) and remains under control (only possible if bits 14 and 15
= 1 and with an appropriate setting of P-0-2221)
1 Drivestart:Onswitchingfrom0•1theoriginalfunctionisresumed.Ifthe
master control system has not updated the position, setpoint jumps may oc-
cur, resulting in shut-off due to tracking error.
Bit 12 Reserved
Bit 10 IPOSYNC: Not supported
Bit 11, 9, 8 Specified operation mode
Table 4.1 Master control word (parameter S-0-0134)
Bit Explanation
0 0 0 Primary mode (defined by operation datum S-0-0032)
0 0 1 Secondary mode-1 (defined by operation datum S-0-0033)
0 1 0 Secondary mode-2 (defined by operation datum S-0-0034)
0 1 1 Secondary mode-3 (defined by operation datum S-0-0035)
Bit 7 Real-time control bit 2 (S-0-0302)
Bit 6 Real-time control bit 1 (S-0-0300)
Bit 5, 4, 3 Data block element
0 0 0 Service channel not activated, close the service channel or abort an ongoing
transfer.
0 0 1 IDN of operation datum. The service channel is closed for the preceding IDN
and opened for a new one.
0 1 0 Name of operation datum
0 1 1 Attribute of operation datum
1 0 0 Units of operation datum
1 0 1 Minimum input value
1 1 0 Maximum input value
1 1 1 Operation datum
Bit 2
0 Ongoing transfer
1 Last transfer
Bit 1 R/W (Read/Write)
0 Read service INFO
1 Write service INFO
Bit 0 „MHS“
0/1 Service transport handshake of master
Table 4.1 Master control word (parameter S-0-0134)
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