ms Manufacturer-specificr Reservedoms Operation mode specifich Haltfr Fault reseteo Enable operationqs Quick stopev Enable voltageso Switch oncs Control set selectiondo Set/reset the digital outputdcs Digital CAM switching functionality enabled/disabledTable 7.3 Definition of Controlword BitsBit Value Definition11 0 Digital CAM switching functionality must be disabled (see chapter 2.5.1 Digital CAM Switch).1 Digital CAM switching functionality must be enabled (see chapter 2.5.1 Digital CAM Switch).12 0 Digital output is cleared.1 Digital output is set.15 0 Control parameter set 1 is used (objects 0x2012 and 0x2013; see chapter 2.3.6 Control Loops).1 Control parameter set 2 is used (objects 0x2014 and 0x2015; see chapter 2.3.6 Control Loops).Table 7.4 Manufacturer-specific Bits in ControlwordCommand Controlword bits TransitionsBit 7 Bit 3 Bit 2 Bit 1 Bit 0Shutdown 0 X1) 1 1 0 2, 6, 8Switch on 0 0 1 1 1 3Switch on and enable operation 0 1 1 1 1 3, 42)Disable voltage 0 X1) X1) 0 X1) 7, 9, 10, 12Quick stop 0 X1) 0 1 X1) 7, 10, 11Disable operation 0 0 1 1 1 5Enable operation 0 1 1 1 1 4, 16Fault reset 0→1 X1) X1) X1) X1) 15Table 7.5 Command Coding1) X denotes Don’t care.2) Automatic transition to Enable operation state after executing Switched on state functionality.NOTICESee chapter 2.3.1 State Machine for the relevant transitions.7.2.1.1 Controlword in Profile Position ModeTable 7.6 shows the structure of the Controlword. Table 7.7 defines the values for bit 4, 5 and 9 of the Controlword. Table 7.8defines the values for bit 6 and 8 of the Controlword. If no positioning is in progress, the rising edge of bit 4 starts thepositioning of the axis. If positioning is in progress, the values given in Table 7.7 define the behavior.15 10 9 8 7 6 5 4 3 0See Table 7.2 Change onsetpoint Halt See Table 7.2 Abs/rel Change setimmediatelyNewsetpointSeeTable 7.2MSB LSBTable 7.6 Controlword for Profile Position ModeServo Drive Parameter Descr... Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 2337 7
