X20 system modules • Motor controllers • X20SM1426
2016
X20 system User's Manual 3.10
4.25.6.13.7.1 Control word
Control word bits and their state for the commands of the state machine:
Command
R
es
er
ve
d
A
B
R
c
ou
nt
er
s
yn
c/
as
yn
c
C
ur
re
nt
e
rr
or
d
et
ec
tio
n
W
ar
ni
ng
re
se
t
M
ot
or
ID
tr
ig
ge
r
R
es
er
ve
d
R
es
er
ve
d
H
al
t 2
)
Fa
ul
t r
es
et
M
od
e
sp
ec
ifi
c
M
od
e
sp
ec
ifi
c
M
od
e
sp
ec
ifi
c
En
ab
le
o
pe
ra
tio
n
Q
ui
ck
s
to
p
En
ab
le
v
ol
ta
ge
Sw
itc
h
on
Bit
1)
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Shutdown
x
x
x
x
x
0
0
x
0
x
x
x
x
1
1
0
Switch on
x
x
x
x
x
0
0
x
0
x
x
x
0
1
1
1
Disable voltage
x
x
x
x
x
0
0
x
0
x
x
x
x
x
0
x
Quick stop
x
x
x
x
x
0
0
x
0
x
x
x
x
0
1
x
Disable operation
x
x
x
x
x
0
0
x
0
x
x
x
0
1
1
1
Enable operation
x
x
x
x
x
0
0
x
0
x
x
x
1
1
1
1
Fault reset
x
x
x
x
x
0
0
x
↑
x
x
x
x
x
x
x
1)
x ... Any; ↑ ... Rising edge
2)
Bit 8 (Halt) is only evaluated if the extended control word is enabled in the "General configuration" register.
Bits 0, 1, 2, 3 and 7
(light gray in the previous table)
These bits control the state of the "State machine" according to the commands in the table above.
stop
0 ... Perform motor movement
1 ... Stop axis with deceleration
This bit is only evaluated when the extended control word is activated in the "General configuration" register.
Motor ID trigger
A rising edge enables the motor ID measurement.
Warning reset
A rising edge resets warnings (no effect on errors, which are reset using "Fault Reset"; the state machine is not
affected by this bit)
Fault reset
A rising edge resets errors and warnings (see "State machine" on page 2017)
Current error detection
0 ... Current error detection disabled
1 ... Current error detection enabled
ABR counter sync/async
0 ... Value of the ABR counter on the "Current position (non-cyclic)" register.
Internal position counter of the ramp generator on the "Current position (cyclic)" register.
1 ... Value of the ABR counter on the "Current position (cyclic)" register.
Internal position counter of the ramp generator on the "Current position (non-cyclic)" register.
Stall detection
0 ... Stall detection disabled
1 ... Stall detection enabled
Summary of Contents for X20 System
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