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0x2010 - Control word

Index

Sub Index

Name

Data Type

Acc.

Pdo Map.

NVM

Value range

Default value

Units

0x2010

0x00

Control word

UINT16

RW

Yes

No

Data type

0

-

This register allows operating the drive state machine and several modules.

Data description

The binary representation of the object value and its corresponding meaning is as follows:

Bit number

15

8

7

6

5

4

3

2

1

0


Operation mode specific

Fault reset

Reserved

Run Set-Point Manager

Enable operation

Quick stop

Enable voltage

Switch on

State machine dedicated bits

Operation commands are generated by a combination of control word bits.

Command patterns are shown below:

Command

Bit of the control word



Fault reset

Enable operation

Quick stop

Enable voltage

Switch on

Typical control word value (decimal)

Shutdown

0

X

1

1

0

6

Switch on

0

0

1

1

1

7

Switch on +
enable operation

0

1

1

1

1

15

Disable voltage

0

X

X

0

X

0

Quick stop

0

X

0

1

X

2 or 11

Disable operation

0

0

1

1

1

7

Enable operation

0

1

1

1

1

15

Fault reset

0 to 1 (rising edge)

X

X

X

X

128

Bits marked with an "X" are irrelevant.


The controller supports the following events and actions.

Transition

Event

Action

0

Automatic transition after power-on or reset application.

Drive device self-test and/or self initialization is performed.

1

Automatic transition after initialization.

Communications are activated.

2

Shutdown command received.

None.

3

Switch on command received.

The high-level power is switched on.

4

Enable operation command received.

The drive function is enabled.

5

Disable operation command received.

The drive function is disabled.

6

Shutdown command received.

The high-level power is switched off.

7

Quick stop or disable voltage command received.

None.

8

Shutdown command received.

The drive function is disabled, and the high-level power is switched off.

9

Disable voltage command received.

The drive function is disabled, and the high-level power is switched off.

10

Disable voltage or quick stop command received.

The high-level power is switched off.

11

Quick stop command received.

The quick stop function is started.

12

Automatic transition when the quick stop function is completed or disable voltage command is received from control device (depending on Quick stop option code register).

The drive function is disabled, and the high-level power is switched off.

13

Fault signal.

The configured fault reaction function is executed.

14

Automatic transition.

The drive function is disabled, and the high-level power is switched off.

15

Fault reset command received.

A reset of the fault condition is carried out, if no fault exists currently on the drive. In this situation, after leaving the Fault state, the Fault reset bit in the control word is cleared by the control device.

Profiler module dedicated bits

Those bits allow operating the profiler module. The binary representation of the object value and its corresponding meaning is as follows:

Bit number

15

...

12

11

10

9

8

7

...

5

4

3

...

0


Reserved

Abs / Rel

Unused

New set-point

Halt

-

Run Set-Point Manager

-

Run Set-Point Manager bit

It's used for the Interpolation Buffer (modes IP and PVT).

Run Set-Point Manager

Description

0

Set-point manager is not being executed, and points are not being extracted from the interpolation buffer.

1

Set-point manager is running and it will extract points from the interpolation buffer.

Halt bit

Halt

Description

1

In operation enabled state, the active movement will decelerate to 0 velocity as long as the Halt option code is not set to "do nothing". New absolute set-points performed while this bit is active will be taken into account after this bit is set to 0, as long as no operation mode change has happened.

0

The motor can run normally. If Halt bit is set to 0 after being set to 1, a new set-point latch may be necessary.

New set-point bit

If no positioning is in progress, the rising edge of bit 4 will start the positioning of the axis. In case a positioning is in progress, the definitions given in the following table shall be used.

New set-point

Description

0 → 1

Next positioning shall be started immediately interrupting the actual one.

If Halt bit is active, this action will be taken into account once the Halt bit is released, as long as no operation mode changes happened in between.


Note

The first latch after a change of mode of operation or state machine's state, takes the actual value as start-up point. Further latches begin from the latest demand values.

Abs / rel bit

Bit 11 of the control word register indicates if the movement is absolute or relative:

Name

Value

Description

Abs / rel


0

Target position is an absolute value.

1

Target position is relative to previous target.

Homing dedicated bits

The binary representation of the object value and its corresponding meaning is as follows:

Bit number

15

...

10

9

8

7

...

0


Unused

Start homing

Unused

-

If no homing is in progress, the rising edge of bit 9 will start the sequence. 

Start homing

Description

0 → 1

Homing sequence is started


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