Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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6.4 Control word bits (STW1)
The S7 application must set the bits in control word 1 to go through the PROFIdrive standard
state machine to enable mode (complying with the PROFIdrive standard 6.3.2). Bits 0-3 con-
trol the state machine state.
The control word (STW1) defines the following general functions:
General Control Word Bits
Bit Num-
ber
Description Comment
0 STW1 on/off ON / OFF.
1 STW1 no coast stop The drive will not coast stop if this bit is set.
2 STW1 no quick stop The drive will not execute quick stop if this bit is set.
3 STW1 enable operation The drive will enable and execute command if all pre-
conditions are set.
7 Fault acknowledge Set this bit to reset faults in the drive.
10 Control by PLC When not set no command will be accepted from the
PLC.
In velocity mode:
STW1 Special bits (Velocity mode)
Bit Num-
ber
Description Comment
4 Enable ramp generator
of the drive Use DRV.ACC and DRV.DEC.
5 Unfreeze the ramp gen-
erator in the drive If frozen, the drive stays at current velocity without
continuing to ramp up or down.
6 Enable set point The drive accepts set point from the master. If this bit
is not set, the velocity will be 0.
8 Jog 1 on/off The drive runs up/brakes along the ramp to jogging
setpoint 1/standstill.
Prerequisite: Operation is enabled, drive is in stand-
still and STW1 bit 4, 5, 6 = 0.
9 Jog 2 on/off The drive runs up/brakes along the ramp to jogging
setpoint 2/standstill.
Prerequisite: Operation is enabled, drive is in stand-
still and STW1 bit 4, 5, 6 = 0.
11-15 Device specific Not implemented.
Control word 1 must also set bits 4,5,6 (for speed control – in velocity operation mode) to
enable ramp generator and bit 10 to set the drive to be controlled by the PLC.
Bit 7 is used to acknowledge fault. The AKD will clear the fault and go automatically to S1
state after a fault is cleared.
The optional jog bits 8 and 9 can be used for the jogging functionility in velocity mode. PNU
1004 and 1005 define the jogging setpoints 1 and 2.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 31