Control word

Bit

Function

PD

Description

0

Enable/emergency stop

PO 1.0

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

1

Enable/application stop

PO 1.1

  • "1": Enable
  • "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).

For decentralized devices, also check the setting of the hardware and software DIP switches.

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 fixed setpoint/teach

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.
  • In teach mode, "Start" is used for teaching.
  • "0": Referencing mode
  • Stop with FCB 02 (default stop)
  • "0": Other operating modes
  • Deceleration to speed 0 with the fixed setpoint acting for the operating mode.
  • Behavior at standstill: 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

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

9

Activate creep speed

PO 1.9

Activates operation at creep speed with the creep speed defined in the module configuration

10

Reserved

PO 1.10

–

11

Reserved

PO 1.11

–

12

Deactivate SW limit switches

PO 1.12

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

  • "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

The handshake bit can be toggled from a higher-level controller. The timeout time can be set via index 8622.21. If the "Handshake In" bit is toggled once, the function is active and must be operated at the appropriate interval. A timeout triggers error 32.7. The "Handshake Out" bit mirrors the state of the "Handshake In" bit.