16.1
Control Word/Status word Overview
16.1.1
Control Word overview (without Sync Modes)
The tables on this page list in an overview the functionality of the Control Word bits.
Bit
Standard (No
Positioning)
Positioning
w ithout MCI
MCI:
Velocity Mode
MCI: Profile Ve-
locity Mode
MCI: Profile
Position Mode
0 Switch On
Switch On
Switch On
Switch On
Switch On
1 Enable Voltage
Enable Voltage
Enable Voltage
Enable Voltage
Enable Voltage
2
Quick Stop
(low active)
Quick Stop
(low active)
Quick Stop
(low active)
Quick Stop
(low active)
Quick Stop
(low active)
3 Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation
4
Rfg enable
New setpoint
5
Rfg unlock
Change set immedi-
ately
6
Rfg use ref
Abs/rel
7 Fault reset
Fault reset
Fault reset
Fault reset
Fault reset
8 Halt
Halt
Halt
Halt
Halt
9
Change on setpoint
10
11
12
13
14
15
Bit
MCI: Interpol.
Position Mode
MCI: Homing
Mode
MCI: Table
travel record
Mode
MCI: Move aw ay
from Limit Sw .
MCI: Electronic
Gear: Slave
0 Switch On
Switch On
Switch On
Switch On
Switch On
1 Enable Voltage
Enable Voltage
Enable Voltage
Enable Voltage
Enable Voltage
2
Quick Stop
(low active)
Quick Stop
(low active)
Quick Stop
(low active)
Quick Stop
(low active)
Quick Stop
(low active)
3 Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation
4 Enable ip-mode
Homing operat.start
Sequence mode
Move away from LS
Start Gearing
5
6
Resume
Direct Sync
7 Fault reset
Fault reset
Fault reset
Fault reset
Fault reset
8 Halt
Halt
Halt
Halt
Halt
9
Start motion block
Start Phasing
10
11
Motion Block Select 0
12
Motion Block Select 1
Phasing Profile Sel. 1
13
Motion Block Select 2
Phasing Profile Sel. 2
14
Motion Block Select 3
15
Motion Block Select 4
07/13
CM-EtherCAT
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