Control Word Bits (Stw1) - Kollmorgen AKD Manual

5.4 Control word bits (STW1)

The S7 application must set the bits in control word 1 to go through the PROFIdrive standard state machine to
enable mode (complying with the PROFIdrive standard 6.3.2). Bits 0-3 control the state machine state.
The control word (STW1) defines the following general functions:
General Control Word Bits
Bit Description
Number
0 STW1 on/off
1 STW1 no coast stop
2 STW1 no quick stop
3 STW1 enable operation The drive will enable and execute command if all preconditions
7 Fault acknowledge
10 Control by PLC
In velocity mode:
STW1 Special bits (Velocity mode)
Bit Description
Number
4 Enable ramp generator
of the drive
5 Unfreeze the ramp gen-
erator in the drive
6 Enable set point
8 Jog 1 on/off
9 Jog 2 on/off
11-15 Device specific
Control word 1 must also set bits 4,5,6 (for speed control – in velocity operation mode) to enable ramp generator
and bit 10 to set the drive to be controlled by the PLC.
Bit 7 is used to acknowledge fault. The AKD will clear the fault and go automatically to S1 state after a fault is
cleared.
The optional jog bits 8 and 9 can be used for the jogging functionility in velocity mode. PNU 1004 and 1005 define
the jogging setpoints 1 and 2.
Comment
ON / OFF.
The drive will not coast stop if this bit is set.
The drive will not execute quick stop if this bit is set.
are set.
Set this bit to reset faults in the drive.
When not set no command will be accepted from the PLC.
Comment
Use DRV.ACC and DRV.DEC.
If frozen, the drive stays at current velocity without continuing to
ramp up or down.
The drive accepts set point from the master. If this bit is not set,
the velocity will be 0.
The drive runs up/brakes along the ramp to jogging setpoint 1/sta-
ndstill.
Prerequisite: Operation is enabled, drive is in standstill and STW1
bit 4, 5, 6 = 0.
The drive runs up/brakes along the ramp to jogging setpoint 2/sta-
ndstill.
Prerequisite: Operation is enabled, drive is in standstill and STW1
bit 4, 5, 6 = 0.
Not implemented.
AKD PROFINET | Table of Contents
Kollmorgen™ | March 2012 29