Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 50.4.2 Commands in the Control Word
50.4.2 Commands in the Control Word
Bit assignment in the control word
Bit Name Bit Name
0 Switch on 8 Pause/halt
1 Disable Voltage 9 reserved
2 Quick Stop 10 reserved
3 Enable Operation 11 reserved
4 Operation mode specific 12 reserved
5 Operation mode specific 13 Manufacturer-specific
6 Operation mode specific 14 Manufacturer-specific
7 Reset Fault (only effective for faults) 15 Manufacturer-specific
Commands in the control word
Command Bit 7
Fault
Reset Bit 3
Enable Oper-
ation Bit 2
Quick
Stop Bit 1
Disable Volt-
age Bit 0
Switch
On Tran-
sitions
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 labeled X are irrelevant. 0 and 1 indicate the status of individual bits.
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 Object 6060h Modes of operation.
Operation mode No Bit 4 Bit 5 Bit 6
Profile Position Mode (pp) 01h new_setpoint change_set_
immediately absolute/relative
Profile Velocity Mode (pv) 03h reserved reserved reserved
Profile Torque Mode (tq) 04h reserved reserved reserved
Homing Mode (hm) 06h homing_operation_start reserved reserved
Interpolated Position Mode (ip) 07h reserved reserved
Cyclic synchronous position
mode 08h reserved reserved reserved
Description of the remaining bits in the control word
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.
Kollmorgen™ | December 2012 481