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 con-
trol the state machine state.
The control word (STW1) defines the following general functions:
General Control Word Bits
Bit Num-
ber
0
1
2
3
7
10
In velocity mode:
STW1 Special bits (Velocity mode)
Bit Num-
ber
4
5
6
8
9
11-15
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.
AKD PROFINET | 5 PROFIDRIVE over PROFINET IO
Description Comment
STW1 on/off ON / OFF.
STW1 no coast stop The drive will not coast stop if this bit is set.
STW1 no quick stop The drive will not execute quick stop if this bit is set.
STW1 enable operation The drive will enable and execute command if all pre-
conditions are set.
Fault acknowledge Set this bit to reset faults in the drive.
Control by PLC When not set no command will be accepted from the
PLC.
Description Comment
Enable ramp generator Use DRV.ACC and DRV.DEC.
of the drive
Unfreeze the ramp gen- If frozen, the drive stays at current velocity without
erator in the drive continuing to ramp up or down.
Enable set point The drive accepts set point from the master. If this bit
is not set, the velocity will be 0.
Jog 1 on/off The drive runs up/brakes along the ramp to jogging
setpoint 1/standstill.
Prerequisite: Operation is enabled, drive is in stand-
still and STW1 bit 4, 5, 6 = 0.
Jog 2 on/off The drive runs up/brakes along the ramp to jogging
setpoint 2/standstill.
Prerequisite: Operation is enabled, drive is in stand-
still and STW1 bit 4, 5, 6 = 0.
Device specific Not implemented.
Kollmorgen | kdn.kollmorgen.com | November 2018 27