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®
sercos
IDN Set
3.103
IDN134 Master Control Word
The amplifier's control word within the MDT is stored within IDN134 as a diagnostic aid.
More detailed information can be found in the sercos
13-15 Þ p. 20).
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Control word, length: two bytes
Bit No.
Control word description
Bits 15-13
1 1 1
Amplifier should follow the setpoints
Bit 15 (MSB) Amplifier ON/OFF
0
Amplifier OFF
1
Amplifier ON: when changing from 0 -> 1: drive follows the master's setpoints
Bit 14
Enable amplifier
Not enabled: when changing from 1 –> 0, torque is immediately disabled and the power sta-
0
ge pulses are blocked (independent of bits 15 and 13).
Enable Amplifier : when changing from 0 –> 1, the enable is delayed in the amplifier by the
1
amplifier enable delay time.
Bit 13
Halt/Restart Amplifier
Halt Amplifier : when changing from 1 –> 0, amplifier is halted according to the „amplifier
0
acceleration bipolar" parameter and the control loop remains closed (only possible when
bits 15 and 14 are set to 1).
Restart Amplifier : when changing from 0 –> 1, original function is continued. Only in velocity
control the amplifier has to use the „amplifier acceleration bipolar". In position control the
1
control unit has to set position setpoints to the position feedback value before bit 13 is set.
Bit 12
Reserved
Bit 10
IPOSYNC: Control unit synchronization bit , not supported
Bits 11,9, 8
Operation mode
0 0 0
Primary operation mode (defined by operation data IDN32).
0 0 1
Secondary operation mode 1 (defined by operation data IDN33)
0 1 0 ...1 1 1 not supported
Bit 7
Real-time control bit 2
Bit 6
Real-time control bit 1
Data block element
Bits 5, 4, 3
Service channel not active, close service channel or break active transmission
0 0 0
IDN of the operation data. Service channel is closed for the previous IDN and opened for a
0 0 1
new IDN
0 1 0
Name of operation data
Attribute of operation data
0 1 1
Unit of the operation data
1 0 0
Minimum input value
1 0 1
1 1 0
Maximum input value
1 1 1
Operation data
Bit 2
0
Transmission in progress
1
Last transmission
Bit 1
R/W (read/write)
0
Read service INFO
1
Write service INFO
Bit 0
MHS
0/1
Service transport handshake of the master
58
04/2016
Binary
®
standards (see MDT Control Bit
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
sercos
Kollmorgen
®
for S300/S700
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