Parameterization
P0684 – CONTROL WORD
Range: 0000h ... FFFFh Default: 0000h
Properties: RW
Description:
It is the EtherCAT interface control word. This parameter can only be changed via EtherCAT interface. For the other
sources (HMI, etc.) it behaves like a read-only parameter.
In order to control the device using those commands, it is necessary to program the equipment to be controlled via
EtherCAT. This programming is achieved by means of parameters P0105 and P0220 to P0228.
Each bit of this word represents a command.
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Function
Reserved
Fault reset
Quick stop
Second ramp
LOC/REM
JOG
Speed direction
General enable
Stop/Run
Table 5.3: Bit function for parameter P0684
Bit Value/Function
Bit 0
Stop/Run
0: It stops the motor with deceleration ramp.
1: The motor runs according to the acceleration ramp.
Bit 1
General enable
0: It disables the drive, interrupting the supply for the motor.
1: It enables the drive allowing the motor operation.
Bit 2
Speed direction
0: Direction of rotation is opposed to the speed reference (reverse).
1: Direction of rotation is the same as the speed reference (direct).
Bit 3
JOG
0: It disables the JOG function.
1: It enables the JOG function.
Bit 4
LOC/REM
0: The drive goes to the Local mode.
1: The drive goes to the Remote mode.
Bit 5
Second ramp
0: The drive uses the first ramp values, programmed in P0100 and P0101, as the motor acceleration and
deceleration ramp times.
1: The drive is configured to use the second ramp values, programmed in P0102 and P0103, as the motor
acceleration and deceleration ramp times.
Bit 6
Quick stop
0: It does not execute the quick stop command.
1: It executes the quick stop command.
Bit 7
Fault reset
0: No function.
1: If in a fault condition, then it executes the fault reset.
Bit 8...15 Reserved
P0685 – SPEED REFERENCE
Range: -32768 ... 32767 Default: 0
Properties: RW
Description:
It is the EtherCAT interface motor speed reference. This parameter can only be changed via EtherCAT interface. For
the other sources (HMI, etc.) it behaves like a read-only parameter.
To use the reference written in this parameter, it is necessary to program the drive to use the speed reference via
EtherCAT. This programming is achieved by means of parameters P0221 and P0222.
This word uses a 13-bit resolution with signal to represent the motor synchronous speed:
CFW11 | 15
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