Festo CiA 402 Manual page 96

5 Device Control
The remaining bits of the controlwords are explained in the following. Some bits have different signific-
ance, depending on the operating mode (modes_of_operation), i.e. whether the motor controller is
speed- or torque-controlled, for example:
controlword
Bit Function
4 Dependent on modes_of_operation
new_set_point
start_homing_operation
enable_ip_mode
5 change_set_immediately
6 relative
7 reset_fault
96
Description
In the Profile Position Mode:
A rising edge signals to the motor controller that a
new positioning task should be undertaken
( Chapter 6.3).
In the Homing Mode:
A rising edge causes the parametrised reference
travel to start. A falling edge interrupts a running
reference travel prematurely.
In the Interpolated Position Mode:
This bit must be set when the interpolation data
records are supposed to be evaluated. It is
acknowledged through the bit ip_mode_active in
the statusword ( Chapter 6.4).
Only in the Profile Position Mode:
If this bit is not set, any positioning tasks currently
running will be processed before a new one is
started. If the bit is set, an ongoing positioning
task will be interrupted immediately and replaced
by the new positioning task (
Only in the Profile Position Mode:
If the bit is set, the motor controller obtains the
target position (target_position) of the current
positioning task relative to the setpoint position
(position_demand_value) of the position
controller.
In the transition from 0 to 1, the motor controller
tries to acknowledge the errors. This is only
successful if the cause of the error has been
resolved.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Chapter 6.3).