Control Word And Status Word; Table 7: Control Word P967 (Stw) - TR-Electronic MP-Series Benutzerhandbuch

Drive-specific functions

6.1.1 Control word and status word

In the control word (P967) the control requests a drive-internal state transition from
the encoTRive. In the status word (P968) the encoTRive provides information on its
actual status.
Control and status word are always process data and are consequently a fixed
constituent of the cyclic telegram; they must always be placed first in the telegram.
Bit Value Significance
1
ON
0
0
OFF 1
1
Operating condition
1
0
OFF 2
1
Operating condition
2
0
OFF 3
1
Run enable
3
0
Run inhibit
4 Specific to operating mode
5 Specific to operating mode
6 Specific to operating mode
1
Acknowledge
7
0
without significance
1
Jog 1 on
8
0
Jog 1 off
1
Jog 2 on
9
0
Jog 2 off
Command by control
1
10
system
0
No command
11 Specific to operating mode
12-15 not used

Table 7: Control word P967 (STW)

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Description
Ready for operation. Voltage on converter.
Stop (return to "Ready to switch on" state); decelerate on acceleration ramp
All "OFF 2" commands are canceled.
Disconnection of voltage
All "OFF 3" commands are canceled.
Fast stop; if necessary: remove operating inhibit; stop as fast as possible
Enable electronics and pulses
Drive coasts to a stop and goes to "Ready" state.
Fault acknowledged with positive edge (0->1). This is followed by a state
transition to "Switch on inhibit" when the fault has been successfully
removed.
Prerequisite: Run enabled, no positioning operation active.
Prerequisite: Run enabled, no positioning operation active.
Command undertaken by control system; Process data valid
Process data invalid
TR - EMO - BA - DGB - 0019 - 08
Printed in the Federal Republic of Germany
06/06/2019