Motor Power Company DUET_FL 48/10, User Manual

Page: 139 / 196

Page 139
11.7.2 Bit configuration for command word / status word / error word
Command word (seqc_opmode)
Bit Meaning
31 Controller reset (hardware reset via commh)
30
Debug mode 0 = off, 1 = on
29
28 Load default parameters from program memory (init!)
27
26
25
24
23
22
21
20
19
18 Setpoint lockout (activated internally by the controller)
17
Direction bit 0 = left-handed rotation, 1 = right-handed rotation (inverts the speed setpoints and the position
setpoints), in the torque control mode also the torque setpoints
16 Error acknowledgement
15
14
13
12 Positioning or homing start
11
10 Rotation direction reversal (inverted rotation direction with identical setpoints)
9
8
7
6 Activate synchronous positioning submode
5 Activate homing
4 Activate positioning
3 Activate speed control
2 Activate torque control
1 Activate position control
0 Controller enable
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company