B&R Industries X20 System, User Manual

Page: 2008 / 2720

X20 system modules • Motor controllers • X20SM1426
2008 X20 system User's Manual 3.10
Control word
Name:
MpGenControl01
This register can be used to issue commands based on the module's state (see 4.25.6.13.7 "Ramp function model
operation").
Data type Value
UINT See bit structure.
Bit structure:
Bit Description Value Information
0 Switch on x
1 Enable voltage x
2 Quick stop x
3 Enable operation x
4 - 6 Mode-specific x
7 Fault reset x
8 Halt (stop)
1)
x
9 - 10 Reserved 0
0
No effect 11 Motor ID trigger
1 Rising edge: Motor ID trigger
2)
0 No effect 12 Warning reset
1 Rising edge: Reset warnings
0 Disable current error detection (default) 13 Undercurrent detection
1 Enable current error detection
0 Default:
•
Internal position counter, cyclic
•
ABR counter, non-cyclic
14 ABR counter sync/async
1 •
Internal position counter, non-cyclic
• ABR counter, cyclic
0 Disable stall detection (default) 15 Stall detection
1 Enable stall detection
1) The "Halt" bit is only evaluated when the extended control word is enabled (see "General configuration").
2) This bit can be used to trigger a measurement of the motor ID. Keep in mind that the application must ensure that the conditions for measurement are fulfilled
(see table in the "Motor ID" register).
Mode
Name:
MpGenMode01
Data type Value Information
0 No mode selected
1 Depending on bit 0 in the General configuration register, the position mode will behave as follows:
•
Position mode without extended control word: Move to position setpoint as soon as po-
sition setpoint is changed
•
Position mode with extended control word: Move to position setpoint as described in
"Mode 1 - Position mode with extended control word"
2 Speed mode: Constant speed
-120 Set home position
-121 Remaining distance mode
-122 Set the actual position
-123 Move to position setpoint when external input is set
-124 Two-position module
-125 Move to fixed position A (position set asynchronously)
-126 Move to fixed position B (position set asynchronously)
-127 Positive homing (see also "Homing configuration")
SINT
-128 Negative homing (see also "Homing configuration")
Information:
For all modes: The "Target reached" bit is set in the Status word register when the current action is
finished (i.e. when the position or speed is reached, depending on the mode).
A new position or speed can be specified even before the current action is finished.