Objects 07/06 Danaher Motion
64 Initial Release M-S2-021-11
Commands in the control word
Command
Bit 7 Fault
Reset
Bit 3 Enable
Operation
Bit 2 Quick
Stop
Bit 1 Disable
Voltage
Bit 0
Switch on
Transitions
Shutdown X X 1 1 0 2, 6, 8
Switch on X X 1 1 1 3
Disable Voltage X X X 0 X 7, 9, 10, 12
Quick Stop X X 0 1 X 7, 10, 11
Disable Operation X 0 1 1 1 5
Enable Operation X 1 1 1 1 4, 16
Fault Reset 1 X X X X 15
Bits marked by an X are irrelevant.
Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-specific modes
are supported at present. The individual modes are set by SDO 6060
h
Modes of operation.
Operation mode No. Bit 4 Bit 5 Bit 6
Position 88
h
reserved reserved reserved
Digital speed 80
h
reserved reserved reserved
Digital current 82
h
reserved reserved reserved
Analog speed 81
h
reserved reserved reserved
Analog current 83
h
reserved reserved reserved
Profile Position Mode (pp) 01
h
new_set_point change_set_immediately absolute / relative
Profile Velocity Mode (pv) 03
h
reserved reserved reserved
Profile Torque Mode (tq) 04
h
reserved reserved reserved
Homing Mode (hm) 06
h
homing_operation_start reserved reserved
Interpolated Position Mode (ip) 07
h
reserved reserved
Description of the remaining bits in the control word
The remaining bits in the control word are described below.
Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for
homing or jogging, motion task number, setpoints for digital mode) for the individual
modes are retained.
Bit 9,10 These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.
