Commands In The Control Word - Kollmorgen S300 Translation Of The Original Manual

EtherCAT
3.4.2

Commands in the control word

The servo amplifier evaluates the individual bits of the control word.
Commands in the Controlword for a status change:
Transition
Bits labeled X are irrelevant.
0 and 1 indicate the status of individual bits.
P indicates a positive edge in the bit; N indicates a negative edge.
Actions on positive edges in control word bits:
Bit
0
1
2
3
7
11
12
Actions on negative edges in control word bits:
Bit
0
1
2
3
7
11
12
20
Bit 7
Common set-
Quit fault
point enable
0 X
1 X
2 X
3 X
4 X
5 X
5 X
6 X
7 X
8 X
9 X
10 X
11 X
12 X
13 X
14 X
15 P
Action
Enabling of the servo amplifier when the switch-on inhibit is canceled (Bit1=1)
Cancellation of switch-on inhibit
Activation of bit 5 display in the status word if Bit0 & Bit1 = 1. Enable for bit 3 in the control
word
Setpoint enabling if Bit0, Bit1 and Bit2 = 1
Sending of clear fault command (CLRFAULT). If bit 19 of the ASCII SERCSET parameter is
set and a fault necessitating a hardware reset is pending, the servo amplifier generates an
F29.
Start of a reference run if the drive is in referencing mode (OPMODE 8)
Sending of a SAVE command.
Action
Disabling of the drive (sending of the DIS ASCII command)
If Bit 1 is not showing a negative edge, braking with the DECSTOP ramp and disabling.
If neither bit 1 nor bit 2 are showing a negative edge, braking with the DECDIS ramp and
continuation of the enabled state.
Deactivation of setpoint transfer from EtherCAT interface and stopping of drive in speed
control mode (OPMODE 0)
Resetting of clear fault (CLRFAULT) command channel
Resetting of reference run command channel
Resetting of SAVE command channel
12/2010
Bit 3 Bit 2
Enable for
Bit 3 and show
Bit 5 in the
Statusword
X X
X X
X X
X 1
P 1
N 1
X N
X X
X X
X X
X X
X X
1 N
X X
1 1
1 1
X X
EtherCAT for S300/S400/S600/S700
Kollmorgen
Bit 1 Bit 0
Enable Switch Enable if
On Bit1=1
X
0
1
1
1
1
1
1
N
1
N
N
1
N
1
1
X
X
X
0
P
1
1
1
N
X
N
X
X
1
X
1
1
X