Control word

INFORMATION

For the behavior of the drive at an idle state, refer to the information in the chapter Control functions.

Bit

Function

PD

V/P

Description

0

Enable/emergency stop

PO 1.0

V/P

  • "1": Enable
  • "0": Stop with drive function FCB 14 (emergency stop)

1

Enable/application stop

PO 1.1

V/P

  • "1": Enable
  • "0": Stop with drive function FCB 13 (stop at application limits)

2

Reserved

PO 1.2

V/P

–

3

Release brake

(without enable)

PO 1.3

V/P

If required, activate this function using parameter 8501.2 (Release brake/DynaStop® with FCB 01 – enable). When using decentralized devices, also check the setting of the hardware and software DIP switches.

4

Jog positive

PO 1.4

P

Signal for moving the drive in positive direction in jog mode.

5

Jog negative

PO 1.5

P

Signal for moving the drive in negative direction in jog mode.

6

Apply relative position

PO 1.6

P

Apply relative target position in relative positioning mode (401). This signal has no effect in all other application modes.

7

Start/stop with fieldbus ramp

PO 1.7

V/P

  • "1": Start – movement enabled in all operating modes except for jog mode.
  • In referencing mode, "Start" is also needed for referencing without reference travel.
  • "0": Referencing mode
    stop with FCB 02 (default stop)
  • "0": Other operating modes
  • Deceleration to speed 0 using the value specified via PO 4.
  • Standstill behavior: The motor is held at speed 0 subject to speed control or position control depending on the operating mode. For motors without encoder, the stop by setpoint function must be used.

8

Fault reset

PO 1.8

V/P

Reset of fault messages with the positive edge of the signal.

9

Reserved

PO 1.9

V/P

–

10

Activate drive train 2

PO 1.10

V/P

  • "0": Drive train 1 selected
  • "1": Drive train 2 selected
  • NOTICE! Drive train 2 is only available with single-axis modules and can be used, for example, to implement emergency mode without encoder feedback.

11

Reserved

PO 1.11

V/P

–

12

Disable SW limit switches

PO 1.12

P

If software limit switches are activated and configured in the configuration ...

  • "0": Monitoring of software limit switches enabled
  • "1": Monitoring of software limit switches disabled

13

Activate output stage inhibit

PO 1.13

V/P

  • "1" Output stage inhibit activated – brake is applied or (if no brake is installed) motor coasts to a stop
  • "0" Output stage inhibit inactive – output stage can be enabled

14

Activate standby mode

PO 1.14

V/P

  • "1" Standby mode activated
  • "0" Standby mode not activated

Standby mode can only be activated when the output stage is inhibited.

15

MOVIKIT®

Handshake In

PO 1.15

V/P

Up to MOVIKIT® version 10:

This signal is copied internally to status word bit 15 (MOVIKIT® Handshake Out). If the copying operation fails ("Handshake Out" remains constant with changing "Handshake In" signal), the device-internal processing of the MOVIKIT® software module is disrupted.

 

From MOVIKIT® version 10:

The handshake bit can be toggled from a higher-level controller. The timeout time can be defined via index 8330.3 (application heartbeat). The timeout response can be set via index 8622.21. If the "Handshake In" bit is toggled once, the function is active and must be operated in the corresponding cycle. A timeout triggers error 32.7. The "Handshake Out" bit mirrors the state of the "Handshake In" bit.