Control word

For information on the drive's behavior at standstill, refer to the information in chapter Control functions.

Bit

Function

PD

Description

0

Enable/emergency stop

PO 1:0

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

1

Enable/application stop

PO 1:1

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

2

Reserved

PO 1:2

–

3

Release brake

(without enable)

PO 1:3

If required, activate this function using parameter 8501.2 (Release brake/DynaStop® with FCB 01 – enable).

4

Jog positive

PO 1:4

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

5

Jog negative

PO 1:5

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

6

Apply relative position

PO 1:6

Apply relative target position in relative positioning mode (401). This signal is ineffective for all the other operating modes.

7

Start/stop with fieldbus ramp

PO 1:7

  • "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 26 (stop at user-defined limits). Deceleration to speed 0 using the value specified via PO 4.
  • "0": Other operating modes
  • Deceleration to speed 0 using the value specified via PO 4.
  • Behavior at standstill: The motor is held at speed 0 subject to position control.

8

Fault reset

PO 1:8

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

9

Reserved

PO 1:9

–

10

Activate drive train 2

PO 1:10

  • "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. The user units and the software module must be parameterized as in drive train 1.

11

Reserved

PO 1:11

–

12

Deactivate SW limit switches

PO 1:12

Prerequisite: SW limit switches are activated and configured.

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

13

Activate output stage inhibit

PO 1:13

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

14

Activate standby mode

PO 1:14

  • "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

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.