Control Word (Stw) - Kollmorgen S300 Translation Of The Original Manual

S300-S400-S600-S700 PROFIBUS | 6 Process data channel

6.1.1 Control word (STW)

With the aid of the control word, you can switch from one amplifier state to another. In the diagram
for the state machine you can see which instrument states can be reached by which transitions.
The momentary amplifier state can be taken from the status word. Several states may be passed
through during one telegram cycle, for example
Ready for switch on → Ready for operation → Operation enabled.
The bits in the control word can be (operating-) mode-dependent or mode-independent.
Bit Name
0
1
2
3
4
5
6
7
8
9
10 PZD (enable/inhibit)
11 Start homing run (edge) Operating mode dependent (see table below)
12 Manufacturer specific
13 Manufacturer specific
14 Manufacturer specific
15 Manufacturer specific
Depending on the bit combination in the control word, a corresponding control command is
defined. The following table shows the bit combinations and also determines the priorities of the
individual bits, in case several bits are altered in one telegram cycle.
Command
Shutdown
Switch-on
Inhibit voltage
Fast stop (amplifier is disabled)
Fast stop (amplifier remains enabled)
Inhibit operation
Enable operation
Reset error
Acknowledge warnings
Opmode dependent bits in the control word:
Opmode
Position
Digital speed
Digital current reserved
Analog speed reserved
Analog current reserved
Trajectory
Priority of the Bits 6, 8, 11 in position-control mode: 6 (high), 11, 8 (low).
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Switch on —
Inhibit voltage —
Fast stop, switch-on 1 -> 0 drive decelerates using emergency ramp, axis is disabled
inhibited (See also ASCII-commands STOPMODE and DECDIS)
Operation enabled —
Fast stop (inhibit rfg) 1 -> 0 drive decelerates using emergency ramp
Pause (stop rfg) Operating mode dependent, 1 -> 0 stops motion
Setpoint enable Operating mode dependent (see table below)
Reset Fault only effective with errors
Jogging (on/off) Operating mode dependent (see table below)
reserved —
—
reset the position
acknowledge warnings
position opmode only:
Bit14 = 1: PZD section is interpreted as direct motion block (velo-
city 32-bit, position 32-bit, motion block type 16-bit
Bit14 = 0: PZD section (HSW) is interpreted as motion block no.
depends on operating mode, digital speed
Bit 5
Motion block: The parameter that is set in
the motion block is used.
Setup operation: The parameter that is set
as a ramp for homing and jogging is used
Drive brakes with preset speed ramp.
reserved
Bit 13 Bit 7 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Transitions
x x x x 1
x x x x 1
x x x x x
x x x x 0
x x 0 1 1
x x x 0 1
x x 1 1 1
x 1 x x x
1 x x x x
Bit 6
Start a motion
task with every
transition edge
(toggle bit).
Setpoint enable reserved reserved
Setpoint enable reserved reserved
reserved
reserved
reserved
1 0 2, 6, 8
1 1 3
0 x 7, 9, 10, 12
1 x 7, 10,11->12
1 1 11
1 1 5
1 1 4, 16
x x 15
x x -
Bit 8 Bit 11
Start jog- Start
ging homing
reserved reserved
reserved reserved
reserved reserved