Commands In The Control Word - Kollmorgen AKD PDMM series User Manual
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AKD PDMM User Guide | 50.4.2 Commands in the Control Word
50.4.2 Commands in the Control Word
Bit assignment in the control word
Bit Name
0
Switch on
1
Disable Voltage
2
Quick Stop
3
Enable Operation
4
Operation mode specific
5
Operation mode specific
6
Operation mode specific
7
Reset Fault (only effective for faults)
Commands in the control word
Command
Shutdown
Switch on
Disable Voltage
Quick Stop
Disable Operation
Enable Operation
Fault Reset
Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.
Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-specific
modes are supported at present. The individual modes are set by Object 6060h Modes of operation.
Operation mode
Profile Position Mode (pp)
Profile Velocity Mode (pv)
Profile Torque Mode (tq)
Homing Mode (hm)
Interpolated Position Mode (ip)
Cyclic synchronous position
mode
Description of the remaining bits in the control word
Bit 8: (Pause) If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing 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.
Bit 7
Bit 3
Fault
Enable Oper-
Reset
ation
X
X
X
X
X
X
X
X
X
0
X
1
1
X
No Bit 4
01h new_setpoint
03h reserved
04h reserved
06h homing_operation_start reserved
07h
08h reserved
Bit Name
8
Pause/halt
9
reserved
10
reserved
11
reserved
12
reserved
13
Manufacturer-specific
14
Manufacturer-specific
15
Manufacturer-specific
Bit 2
Bit 1
Quick
Disable Volt-
Stop
age
1
1
1
1
X
0
0
1
1
1
1
1
X
X
Bit 5
change_set_
immediately
reserved
reserved
reserved
reserved
Bit 0
Tran-
Switch
sitions
On
0
2, 6, 8
1
3
X
7, 9, 10, 12
X
7, 10, 11
1
5
1
4, 16
X
15
Bit 6
absolute/relative
reserved
reserved
reserved
reserved
reserved
Kollmorgen™ | December 2012
481
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